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2022 | OriginalPaper | Buchkapitel

Design and Analysis of a Robotic Lizard Using Five-Bar Mechanisms

verfasst von : V. S. Rajashekhar, C. K. Dinakar Raj, S. Vishwesh, E. Selva Perumal, M. Nirmal Kumar

Erschienen in: Machines, Mechanism and Robotics

Verlag: Springer Singapore

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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 servomotors to verify the robotic lizard mechanism.

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Titel: Design and Analysis of a Robotic Lizard Using Five-Bar Mechanisms
verfasst von: V. S. Rajashekhar
C. K. Dinakar Raj
S. Vishwesh
E. Selva Perumal
M. Nirmal Kumar
Verlag: Springer Singapore
Buch: Machines, Mechanism and Robotics
Print ISBN: 978-981-16-0549-9

Electronic ISBN: 978-981-16-0550-5

Copyright-Jahr: 2022
DOI: https://doi.org/10.1007/978-981-16-0550-5_5

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