Optimal Kinematic Design of a Robotic Lizard using Four-Bar and Five-Bar Mechanisms

Rajashekhar V S, Debasish Ghose, Arockia Selvakumar Arockia Doss

Designing a mechanism to mimic the motion of a common house gecko is the objective of this work. The body of the robot is designed using four five-bar mechanisms (2-RRRRR and 2-RRP…