Stability Analysis of Half-rotating Walking Mechanism with Self-balancing Configuration

Aiming at the problem of dynamic stability of half-rotating walking mechanism, a walking mechanism with self-balancing configuration is proposed. Using D-H method, the transformation matrix between coordinate systems is obtained. Based on the structural and kinematic characteristics of the half-rotating walking mechanism, a new evaluation method for the kinematic stability of the half-rotating walking mechanism is proposed: the stable triangle method. A stable walking strategy of half-rotating walking mechanism is proposed to keep the minimum stable angle as the maximum in the process of motion. Adams motion simulation shows the strategy adopted is reasonable and effective. The stability analysis based on the minimum stability angle shows that the half-rotating walking mechanism can walk stably, and the faster the speed of the half-rotating mechanism is, the weaker the stability of the mechanism is.