Design and Synthesis of Single-Actuator Walking Robots via Coupling of Linkages

This paper deals with the development of single actuator walking robots designed by coupling two mechanisms. The advantages such are simplicity design and its control system. In this paper, three various concepts carried out via units which four-bar linkages, slider-crank mechanisms, a cam mechanism pantograph linkage. geometrical syntheses these mechanisms have been analyzed, based on them, analytical numerical methods adopted to ensure reproduction given trajectory similar human gait. Three single-actuator where them can be easily reconfigured reproduce gaits different lengths or even tilted make robot able climb stairs. All suggested validated through CAD simulations ADAMS software.