Optimal 5R parallel leg design for quadruped robot gait cycle

D. Ratolikar, Mangesh and R, Prasanth Kumar (2020) Optimal 5R parallel leg design for quadruped robot gait cycle. In: 49th International Conference on Vibroengineering, 26-28 November 2020, Almaty.

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Abstract

This paper presents the design of optimal dimensions for a two degrees of freedom parallel mechanism used in quadruped for walking application. Serial linkages or open link mechanisms have less stiffness and poor dynamic performance, thus parallel mechanisms were developed. Many researchers have used symmetrical parallel leg for quadruped walking but force requirements are different in forward and return stroke, thus unsymmetrical parallel leg may be optimal. Using genetic algorithm, optimum link length values are obtained and the corresponding peak torque is also found. Copyright © 2020 Mangesh D. Ratolikar, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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