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Designing a mechanism to mimic the motion of a common house gecko is theobjective of this work. The body of the robot is designed using four five-barmechanisms (2- and 2-RRPRR) and the leg is designed using four four-barmechanisms. The 2- five-bar mechanisms form the head and tail of therobotic lizard. The 2-RRPRR five-bar mechanisms form the left and right sidesof the body in the robotic lizard. The four five-bar mechanisms are actuated byonly four rotary actuators. Of these, two actuators control the head movementsand the other two control the tail movements. The RRPRR five-bar mechanism iscontrolled by one actuator from the head five-bar mechanism and the other bythe tail five-bar mechanism. A tension spring connects each active link to alink in the four bar mechanism. When the robot is actuated, the head, tail andthe body moves, and simultaneously each leg moves accordingly. This kind ofactuation where the motion transfer occurs from body of the robot to the leg isthe novelty in our design. The dimensional synthesis of the robotic lizard isdone and presented. Then the forward and inverse kinematics of the mechanism,and configuration space singularities identification for the robot arepresented. The gait exhibited by the gecko is studied and then simulated. Acomputer aided design of the robotic lizard is created and a prototype is madeby 3D printing the parts. The prototype is controlled using Arduino UNO as amicro-controller. The experimental results are finally presented based on thegait analysis that was done earlier. The forward walking, and turning motionare done and snapshots are presented.

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