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

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 fivebar 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.