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-RRPRR) and the leg is designed using four four-bar mechanisms. The 2-RRRRR five-bar mechanisms form the head and tail of the robotic lizard. The 2-RRPRR five-bar mechanisms form the left and right sides of the body in the robotic lizard. The four five-bar mechanisms are actuated by only four rotary actuators. Of these, two actuators control the head movements and the other two control the tail movements. The RRPRR five-bar mechanism is controlled by one actuator from the head five-bar mechanism and the other by the tail five-bar mechanism. A tension spring connects each active link to a link in the four bar mechanism. When the robot is actuated, the head, tail and the body moves, and simultaneously each leg moves accordingly. This kind of actuation where the motion transfer occurs from body of the robot to the leg is the novelty in our design. The dimensional synthesis of the robotic lizard is done and presented. Then the forward and inverse kinematics of the mechanism, and configuration space singularities identification for the robot are presented. The gait exhibited by the gecko is studied and then simulated. A computer aided design of the robotic lizard is created and a prototype is made by 3D printing the parts. The prototype is controlled using Arduino UNO as a micro-controller. The experimental results are finally presented based on the gait analysis that was done earlier. The forward walking, and turning motion are done and snapshots are presented.

翻译：本研究的目的是设计一种能够模拟普通壁虎运动的机构。机器人主体采用四个五杆机构（两个2-RRRRR型与两个2-RRPRR型）构成，腿部则采用四个四杆机构设计。其中，2-RRRRR型五杆机构构成仿生蜥蜴机器人的头部与尾部，2-RRPRR型五杆机构构成其躯干左右两侧。四个五杆机构仅由四个旋转驱动器驱动：其中两个驱动器控制头部运动，另外两个控制尾部运动。RRPRR型五杆机构的一个驱动器来自头部五杆机构，另一个则来自尾部五杆机构。每个主动连杆通过拉伸弹簧与四杆机构中的连杆相连。机器人被驱动时，其头部、尾部及躯干运动，同时各腿部随之同步运动。这种将躯干运动传递至腿部的驱动方式，是本设计的创新点。本文完成了仿生蜥蜴机器人的尺寸综合，进而推导了机构的正逆运动学方程，并识别了机器人的构型空间奇异性。通过研究壁虎的步态特征进行仿真模拟，利用计算机辅助设计创建了仿生蜥蜴机器人模型，并通过3D打印零部件制作了原型样机。该原型采用Arduino UNO微控制器进行控制。最后，基于前期完成的步态分析，展示了包括前进行走与转向运动在内的实验过程及动作快照。