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The walking machine is composed of a walking mechanism with leg function and a trailer with balance function. The walking mechanism has 4 legs with the same topological structure. Each leg is an 8-bar linkage with 10 revolute joints. And, the 4-legs have a common driving crank with different phase angles to produce the desire gait. Base on Yan''s creative mechanism design methodology, all possible topological structures of leg mechanisms are generated systematically. The position analysis of the support point in each leg mechanism is carried out by applying vector-loop. Then, the mechanical advantage is used to estimate the kinematics performance of the leg mechanisms. Taguchi method is used to obtain the best leg mechanism. In the view of the maximum mechanical advantage, optimal dimensions of the leg mechanisms are obtained by an optimization method. Then, four-phase deployment styles between the leg mechanisms are used to generate different gaits. The force required to push or pull the walking horse is obtained base on static analysis. The quality function deployment is employed to identify the best walking mechanism. Finally, a physical model is built for testing the performance of the walking machine horse. In conclusion, the designed new walking machine horse has better performance and more gait styles than the original design.
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