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.
Highlights
Robots are designed based on the tasks they are supposed to carry out
Few researchers have worked on parallel mechanism [8] to increase their workspace [9,10,11,12]
There are two types of singularities which are commonly observed in parallel mechanisms; Type 1 and Type 2 [4]
Summary
Robots are designed based on the tasks they are supposed to carry out. They are expected to be robust, dextrous [1] and reliable. Few researchers have worked on parallel mechanism [8] to increase their workspace [9,10,11,12]. Parallel mechanisms have low reach or small workspace and above that there are few occurrences of singularities. There are two types of singularities which are commonly observed in parallel mechanisms; Type 1 and Type 2 [4]. There are many sets of solutions possible for inverse kinematic problem of parallel mechanism [8, 14]. The paper presents optimal link lengths and orientation for parallel leg mechanism.
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