Optimization of Watt's Six-bar Linkage to Generate Straight and Parallel Leg Motion

• Main Authors: Saeed Akbarnejad, Hamid Mehdigholi
• Format: Article
• Language: English
• Published: SAGE Publishing 2008-11-01
• Series: International Journal of Advanced Robotic Systems
• Subjects: optimal; synthesis; four-bar linkage; genetic algorithm; straight line legged motion; Coupler curve
• Online Access: http://www.intechopen.com/articles/show/title/optimization_of_watt_s_six-bar_linkage_to_generate_straight_and_parallel_leg_motion

This paper considers optimal synthesis of a special type of four-bar linkages. Combination of this optimal four-bar linkage with on of it's cognates and elimination of two redundant cognates will result in a Watt's six-bar mechanism, which generates straight and parallel motion. This mechanism can be utilized for legged machines. The advantage of this mechanism is that the leg remains straight during it's contact period and because of it's parallel motion, the legs can be as wide as desired to increase contact area and decrease the number of legs required to keep body's stability statically and dynamically. "Genetic algorithm" optimization method is used to find optimal lengths. It is especially useful for problems like the coupler curve equation which are completely nonlinear or extremely difficult to solve.