Kinematics Analysis and Gait Research of the Piling Platform´s Walking Mechanism in Dyke Emergency

With the respect to the special environment of dyke emergency, this paper is focused on the kinematics analysis, pace programming of the walking machine of the piling platform. Firstly, the general design of the walking machine of the piling platform is designed, and its kinematics solution is analysed. Based above, the pace programming of the walking machine is studied. The horizontal pace is researched. According to the pace drawing, every leg´s swing sequence in different walking direction is presented.