A New-Style Bionic Walking Mechanism and Its Motion Simulation

Based on the principle of double-half-revolution mechanism, this paper designed a new-style bionic walking mechanism by using two tandem planetary gear trains, which is composed of one first swiveling arm, one second swiveling arm, two striding rods and mechanism bracket, etc. The first swiveling arm and second swiveling arm are the planet carriers (also as gearbox casings) of the planetary gear trains respectively. On the basis of analysis of interference and motion coupling relationship of joints, non-interference condition of the bionic walking mechanism was obtained. Motion simulation was done in COSMOS Motion software, and the motion path curves of rotating joints of the bionic walking mechanism were obtained. Simulation shows that the fluctuation of the bionic walking mechanism is small and it meets the mobility of exploration.