Design and Implementation of a Lizard-Inspired Robot

Abstract

The purpose of this paper is to design a lizard-inspired robot driven by a single actuator. Lizard-inspired robots in previous studies had the issue of slippage of their supporting legs. To overcome this issue, a lizard-inspired robot consisting of a four-bar linkage mechanism was designed. The purpose of this paper was achieved through three processes. The first process was kinematic analysis, where the turning angle and stride length of the robot were analyzed. The kinematic analysis results were verified via numerical simulations. The second process was the design and fabrication of the robot. For the robot’s design, both a shuffle-walking method utilizing a claw-shaped leg mechanism and a sliding-rod mechanism for equipping the actuator on the robot’s own coordinates were designed. The third process was experimental verification. The first experimental result was that the claw-shaped leg mechanism was capable of generating an 85.26 N difference in the static frictional force in the longitudinal direction. The other three experimental results were that the robot was capable of driving with 3.51%, 3.16%, and 3.53% error compared to the kinematic analyses, respectively.

Projeto E Acionamento De Um Robô Lagartixa Pneumático Com Aplicação De Aprendizado Computacional

“…Existem também outros tipos de robôs escaladores na literatura, além dos robôs já mostrados anteriormente com mais detalhes. Em [21][22][23][24][25][26][27][28][29][30][31] pode-se encontrar um leque amplo de tipos de robôs capazes de escalar superfícies com diferentes inclinações. Estes trabalhos indicados mostram os projetos mecânicos e aplicações dos robôs, modelagens matemáticas dos seus sistemas, controles de movimentação e experimentos realizados com os mesmos.…”

“…Hernando et al [25] desenvolveram um controle para robôs escaladores de múltiplas pernas, com compensação de possíveis movimentos errôneos. Nansai et al [26] projetaram um robô escalador onde um único atuador aciona um mecanismo de quatro barras para executar a translação. Vega-Heredia et al [27] desenvolveram o projeto de um robô modular para limpeza de fachadas de prédios em vidro, além do controle e análise de resultados experimentais.…”