Chebyshev_walker2
- Author:
- asifsound
Orthodox Chebyshev Bi-pedal walking apparatus.
Perhaps, the most simple implementation.
Trick:
Suppose, I notate a = Vector of a →. --- i.e. under bar _ represents →.
mean of (a+b) = 0.5(a+b).
mean of [(a+c) + (b-c)] = 0.5(a+b)
Also, 0.5(a+b) = 0.5a +0.5b
Please consider above meaning. (i.e. The mean/ means , and, its meaning.)
[ex. typical sample: always, AM = 0.5 B'E + 0.5 BB'1 ---- why? ---- evident. ]
Information:
Red Bullet B● is on the
(1, 0) case; --- point M is just (0, 4)
∵ BF = 3 (base), BE = 5 , so EF = 4 [√(25-9)] --- i.e. height is just 4
(0, -1) case; --- M is just (2, 4)
∵ B'2E = 4 (base), B'E = 5 , so B'2B' = 3,
so AB'2 = 1 + 3 = 4 --- i.e. height is just 4
■ Other sample: ---- this is very educational.
Novice/ Beginners are apt to implement it like other typical sample.
① TLT15 [チェビシェフリンク2足歩行ロボット] ----- Japanese site, but picture is international.
The same function, but
(3+4 bars + rectangle rigid boy)/ leg
3+4 can reduce to 4+1.
--- i.e. 2 bars are over than my method. --- But, To avoid the bar confliction, 4 sides are required in crank system. Implementation is not easy.
② Chebyshev's Lambda Mechanism (wikipedia)
③ The Chebyshev Walking Machine
④ CHEBYSHEV MULTIPLE-BAR WALKING MECHANISM
⑤ walking Chebyshev's (YouTube) --- design miss? but, educational.
■ New type wheel
● Above apparatus becomes a new type caster (on the carpet etc) .
cf. Caster (wikipedia)
● Wheelchair ----- big wheel replace, good cost. good horizontality, bad operability (difficulty of curve managing ? --- be able to improve, perhaps.).
cf. Wheelchair (wikipedia)
● Walker (mobility) (wikipedia)
rollator, Silver-car (Name in Japan) (wikipedia)
● Crutch
Underarm or axilla