Design and Analysis of a Robotic Lizard using Five-Bar Mechanism
This work addresses the need for improved legged robots for exploration in rough terrains, but it is incremental as it applies an existing mechanism type to a new robotic form.
The paper tackled the problem of designing a legged robot for rough terrain by creating a robotic lizard using integrated five-bar mechanisms, resulting in a prototype that was built and controlled with servo motors to verify the mechanism's functionality.
Legged robots are being used to explore rough terrains as they are capable of traversing gaps and obstacles. In this paper, a new mechanism is designed to replicate a robotic lizard using integrated five-bar mechanisms. There are two five bar mechanisms from which two more are formed by connecting the links in a particular order. The legs are attached to the links of the five bar mechanism such that, when the mechanism is actuated, they move the robot forward. Position analysis using vector loop approach has been done for the mechanism. A prototype has been built and controlled using servo motors to verify the robotic lizard mechanism.