Genetic Algorithm applied on the Optimization Problem for the Synthesis of a Walking Mechanism

Resumo

This paper deals with the synthesis of articulated mechanisms employed to simulate the walking
motion, which can be applied on robots, toys, vehicles and other legged locomotion systems. A six-bar
mechanism comprised of a four-bar linkage with an embedded pantograph is the planar mechanism chosen for
this study. The synthesis is based on the desired curve to be described by the mechanism, which is generated
with the four-bar linkage and enlarged by the pantograph. The mechanism rendered by this synthesis is compact
and presents links with small dimensions in comparison with the motion step. An optimization technique is used
to generate the curve described by the mechanism. A computational procedure based on genetic algorithm and
differential evolution is implemented to optimize the curve generation for the selected planar mechanism.