​Design and Simulation of Wheeled Biped Robot

In the first phase of this project kinematics of Chebyshev's 6-bar mechanism has been solved analytically for a given angular velocity and acceleration of the left side crank link The method introduced in the 4th chapter of the course reference (Robert L. Norton's Design of Machinery, fourth edition,​​​​​​​ McGraw-Hill) and the solution was checked with the Graphical method too. Movement of the links and trajectories of the two pivot points has been animated (right video)

All joints angular Velocities and Accelerations have been plotted. The kinematic answers were used for solving the Kinetics of Mechanism in the 2nd phase.  Joint Velocities and Accelerations has been illustrated in the bellow figures. (Angular Velocities are in rad/s and Accelerations are in rad/s2)

For the second phase of the project dynamics of the mechanism have been investigated using the Newton-Euler method and the Energy method. Based on the torque curve of the input joint a DC motor has been selected. To the left results of two different approaches for getting the input torque curve have been illustrated.

In the last part of the project, a Cam profile has been designed which mimics the movement of a pivot point located exactly at the center of the top right link. (Its trajectory has been shown with green color in the first animation)