Design and Analysis of a Robotic Lizard using Five-Bar Mechanism

TL;DR

This paper presents the design, analysis, and prototype development of a robotic lizard using interconnected five-bar mechanisms, enabling efficient movement over rough terrains.

Contribution

It introduces a novel robotic lizard design based on integrated five-bar mechanisms and provides position analysis and experimental validation.

Findings

Successful prototype demonstrating movement capabilities

Effective position analysis using vector loop approach

Robust control of the mechanism with servo motors

Abstract

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.