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六对腿机构设计与分析
Abstract — Since the wheel was invented back in the Stone Age, it was the primary component used in all forms of mechanical transportation. Even today it is the component of choice for almost any type of moving machine like cars. However, the wheel has always had a major disadvantage with short instant elevation changes like stairs. For most uses, climbing stairs or steep jagged rock piles is not a problem which is why the wheel is still almost always used. For the other applications, people looked at animal and human legs which are already proven to work effectively on this type of terrain. The two most effective leg mechanisms are currently Joe Klann's mechanism which resembles a spider leg and Theo Jansen's mechanism which resembles a human leg. We have chosen Joe Klann mechanism which has more advantage than Jansen mechanism. The main objective of our paper is to replace the function of wheel with an alternative in order to overcome the difficulty of travelling in uneven terrain. This paper is useful in hazardous material handling, clearing minefields or secures an area without putting anyone at risk. Keywords – Joe Klann's Mechanism, Theo Jansen's Mechanism, Steep Jagged Rock piles, Material Handling.
课程Vitae Markus Elmar Diefenbacher大学。
大学，RER.NAT博士。D.O.B. 1978年4月19日，在德国大学教育的卡尔斯鲁厄10. 2023大学。 教授 实验性气质（LMU）和Helmholtz研究小组实验肿瘤学2009 RER博士。 nat。，Kit 1997-2004生物学研究，Karlsruhe大学和Helmholtz Zentrum Karlsruhe/Karlsruhe技术研究所（KIT）科学生涯自2023年以来。 教授 Experimental Pneumology (LMU) and Helmholtz Research Group Experimental Oncology, Munich, Germany Since 2023 Affiliated Editor at Oncogene 2020-2023 Founding member of the Mildred Scheel Junior Research Center Würzburg 2015-2023 Junior Group Leader, Biocenter University Würzburg 2015-2023 Junior Group Leader, Comprehensive Cancer Center Würzburg 2009年至2015年，英国癌症研究所的博士后研究所和弗朗西斯·克里克研究所（Francis Crick Institute），哺乳动物遗传学系，英国伦敦，引文记录总数：2.135; H-Index：21; h-index since 2017: 19 (Google Scholar December 05 th , 2023) Top-10 selected Publications Senior author papers: Hartmann O, Reissland M, Maier CR, Fischer T, Prieto-Garcia C, Baluapuri A, Schwarz J, Schmitz W, Garrido-Rodriguez M, Pahor N, Davies CC, Bassermann F, Orian A, Wolf E, Schulze A，Calzado MA，Rosenfeldt MT，Diefenbacher ME（2021）实施CRISPR/CAS9基因组编辑，以产生描绘人类疾病突变景观的鼠类肺癌模型。 细胞死亡不同29：568-584 Fischer T，Hartmann O，Reissland M，Prieto-Garcia C，Klann K，Klann K，Pahor N，Schulein-Volk C，Baluapuri A，Polat B，Polat B，Polat B，Polat B，Abazari A，Abazari A，Gerhard-Hartmann E，Gerhard-Hartmann E，Kopp HG，Essmann F，Essmann F，ccc ccc ccc ccc ccc ccc ccc ccccccccedD.O.B.1978年4月19日，在德国大学教育的卡尔斯鲁厄10.2023大学。教授实验性气质（LMU）和Helmholtz研究小组实验肿瘤学2009 RER博士。nat。，Kit 1997-2004生物学研究，Karlsruhe大学和Helmholtz Zentrum Karlsruhe/Karlsruhe技术研究所（KIT）科学生涯自2023年以来。教授Experimental Pneumology (LMU) and Helmholtz Research Group Experimental Oncology, Munich, Germany Since 2023 Affiliated Editor at Oncogene 2020-2023 Founding member of the Mildred Scheel Junior Research Center Würzburg 2015-2023 Junior Group Leader, Biocenter University Würzburg 2015-2023 Junior Group Leader, Comprehensive Cancer Center Würzburg 2009年至2015年，英国癌症研究所的博士后研究所和弗朗西斯·克里克研究所（Francis Crick Institute），哺乳动物遗传学系，英国伦敦，引文记录总数：2.135; H-Index：21; h-index since 2017: 19 (Google Scholar December 05 th , 2023) Top-10 selected Publications Senior author papers: Hartmann O, Reissland M, Maier CR, Fischer T, Prieto-Garcia C, Baluapuri A, Schwarz J, Schmitz W, Garrido-Rodriguez M, Pahor N, Davies CC, Bassermann F, Orian A, Wolf E, Schulze A，Calzado MA，Rosenfeldt MT，Diefenbacher ME（2021）实施CRISPR/CAS9基因组编辑，以产生描绘人类疾病突变景观的鼠类肺癌模型。细胞死亡不同29：568-584 Fischer T，Hartmann O，Reissland M，Prieto-Garcia C，Klann K，Klann K，Pahor N，Schulein-Volk C，Baluapuri A，Polat B，Polat B，Polat B，Polat B，Abazari A，Abazari A，Gerhard-Hartmann E，Gerhard-Hartmann E，Kopp HG，Essmann F，Essmann F，ccc ccc ccc ccc ccc ccc ccc cccccccced前牢房Dev Biol 9：641618 Prieto-Garcia C，Hartmann O，Reissland M，Braun F，Bozkurt S，Pahor N，Pahor N，Fuss C，Schirbel A，Schulein-volk C，Buchberger A，Buchberger A，Calzado Canale Canale Ma，Rosenfeldt Ma，Rosenfeldt M，Rosenfeldt M，Dief2222222222222222222启用呼吸细胞的致癌转化，其抑制作用增强了靶向突变体EGFR，BRAF和PI3K的分子疗法。Mol Oncol 16: 3082-3106 Prieto-Garcia C, Hartmann O, Reissland M, Braun F, Fischer T, Walz S, Schulein-Volk C, Eilers U, Ade CP, Calzado MA, Orian A, Maric HM, Munch C, Rosenfeldt M, Eilers M, Diefenbacher ME (2020) Maintaining protein stability鳞状癌细胞需要通过USP28的∆NP63。Embo Mol Med 12：E11101 Prieto-Garcia C，Hartmann O，Reissland M，Fischer T，Maier CR，Rosenfeldt M，Schulein-Volk C，Klann K，Klann K，Kalb R，Dikic I，Dikic I，Munch C，Munch C，Munch C，Diefenbacher Me（Diefenbacher Me（Diefenbacher Me）（2022b）by tumors of tumors by tumors squist of tamers squasus of tumors squasus of tumors squasous squasous squist抑制Fanconi贫血途径。