Optimal Kinematic Design of a Robotic Lizard Using Four-Bar and Five-Bar Mechanisms

Rajashekhar, VS and Ghose, D and Doss, ASA (2024) Optimal Kinematic Design of a Robotic Lizard Using Four-Bar and Five-Bar Mechanisms. In: 6th International and 21st National Conference on Machines and Mechanisms, iNaCoMM 2023, 7 December 2023through 9 December 2023, Raipur, pp. 71-92.

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Abstract

Designing a mechanism to mimic the motion of a common house gecko is the objective of this work. The body of the robot is designed using four five-bar mechanisms (2-RRRRR and 2-RRPRR), and the leg is designed using four four-bar mechanisms. The 2-RRRRR five-bar mechanisms form the head and tail of the robotic lizard. The 2-RRPRR five-bar mechanisms form the left and right sides of the body in the robotic lizard. The four five-bar mechanisms are actuated by only four rotary actuators. Of these, two actuators control the head movements and the other two control the tail movements. The RRPRR five-bar mechanism is controlled by one actuator from the head five-bar mechanism and the other by the tail five-bar mechanism. A tension spring connects each active link to a link in the four-bar mechanism. When the robot is actuated, the head, tail, and body move, and simultaneously, each leg moves accordingly. This kind of actuation where the motion transfer occurs from body of the robot to the leg is the novelty in our design. The dimensional synthesis of the robotic lizard is done and presented. Then the forward and inverse kinematics of the mechanism, and configuration space singularities identification for the robot are presented. The gait exhibited by the gecko is studied and then simulated. A computer-aided design of the robotic lizard is created, and a prototype is made by 3D printing the parts. The prototype is controlled using Arduino UNO as a microcontroller. The experimental results are finally presented based on the gait analysis that was done earlier. The forward walking and turning motions are done, and snapshots are presented. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

Item Type:	Conference Paper
Publication:	Lecture Notes in Mechanical Engineering
Publisher:	Springer Science and Business Media Deutschland GmbH
Additional Information:	The copyright for this article belongs to publisher.
Keywords:	Gait analysis; Inverse problems; Machine design; Robots, Dimensional synthesis; Five-bar mechanism; Four bar; Four-bar mechanisms; Gait study; Kinematic Analysis; Optimal kinematic design; Robotic lizard; Singularity analysis; Spring actuation, Inverse kinematics
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	19 Nov 2024 19:44
Last Modified:	19 Nov 2024 19:44
URI:	http://eprints.iisc.ac.in/id/eprint/86782

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