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

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.