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In this paper we analyze the mechanisms which can be implemented on a structure of walking vehicle, vehicle which possesses mobility and stability on different types of soils with obstacles (even other than terrestrial). We present a mechanical model for a walking self-propelled mechanism with joints, for which we perform the kinematic and dynamic analysis. For the dynamic analysis the elements of the mechanism are modeled with solids in AutoCAD, obtaining thus the geometric and mechanic properties of the self-propelled structure. We adopt a dynamic model for which, with the aid of the determined mechanical parameters, we obtain the equation of motion of the machine. After the solving of the equation of motion one obtains the variation of the angular velocity at the driving element. In the end of the paper the authors present the conclusion resulted from the performed study.

walking mechanisms; mechanical model; dynamical model; numerical simulation