The principle and structure of the All Round Position Steering Mechanism of the walking vehicle

摘要

This paper concentrately discusses various methods of performing the turns of legged vehicles and suggests the foundamental standard to evaluate the steering mechanism of the walking vehicle. An all round position of steering mechanism based on the principle of simple spatial pentographic mechanism which can realized three methods of turning with fewer or without any help of computer is proposed. By the result of computer graphic simulation for "ARPSV" which is a hexapod vehicle with the all round position steering mechanism designed by us, it shows that the all round position steering mechanism of the legged vehicle is realizable.