Table 3: Optimal dimensions of the mechanism for various styles of walking.
|
Type of walking |
K value |
r1 mm |
r2 mm |
r3 mm |
r4 mm |
|
Walking |
K1 = 10 K2 = 1 |
49 |
9 |
66.47 |
24.08 |
|
Bounding |
K1 = 10000 K2 = 20 |
49 |
9 |
63.00 |
27 |
|
Hopping |
K1 = 1 K2 = 10000 |
55 |
6 |
65 |
24 |
|
Skating |
K1 = 100 K2 = 1 |
49 |
9 |
66.11 |
23.65 |