Optimized design of 5R planar parallel mechanism aimed at gait-cycle of quadruped robots

In quadruped robot locomotion using parallel mechanisms, researchers have used equal link lengths as legs for walking. However, force requirements are not the same in forward and return strokes. An unsymmetrical mechanism can be considered to accommodate such requirements. This work presents optimized dimensions of a 5R planar (5R-PPM) with two degrees freedom (DoF). Optimized determined by formulating an optimization problem kinematics dynamics equations 5R-PPM. Genetic algorithm is obtain solutions formulated this study. The constraint condition expressed here will attempt minimize peak torque essential displace links given height body path traced end-effector. After analysing all four possible working modes end-effector movement, best mode selected legs. solved MATLAB, validated MATLAB Simscape Multibody toolbox.