抄録
In this research, the optimal design aiming at designing the leg mechanism of a six-legged mini shovel, which can minimization the load of the oil-pressure cylinder and the flow rate of a hydraulic pump and maximize the movable range of the leg, was formulized. Firstly, the size of the leg mechanism and the chassis were decided, and a basic design of the six-legged mini shovel was carried out. Next, the optimal configuration of the oil-pressure cylinder of a leg mechanism was designed by the statics analysis of a leg output. Furthermore, a design variable, a evaluation function, and optimization method were determined, and the optimization of a leg mechanism was formulized. Finally, walk analysis by statics was carried and the effectiveness of this research technique was clarified.
