To better understand the dynamics of linkages, the assignment is designed to apply the theories from the mechanism module of unit EGB321 into real-world mechanics. You will develop the ability to recognise and apply the developed theories and formulas to solve fundamental engineering problems involving position, velocity, acceleration and force and to solve more complex problems involving balance analysis. The walkable robot is consisted with a gearbox with a motor and linkages. The main components (Fig. 1) include two sets of 4bar linkages as the front legs (blue), two sets of slide cranks as the back legs (red). They all share the same input driving link. M h b a a b d' 02 04 4bar linkage for front leg Figure 1. Schematic diagram of the robot (not to the scale). b h N d' b Slide Crank for back leg 1 | Page