Design and Dimensional Optimization of a Novel Walking Mechanism with Firefly Algorithm

Abstract

In this paper, a walking mechanism named Atlas is proposed which is a Watt-I type 6 link mechanism. First, the geometry is proposed and then kinematic analysis is done that will be used for the synthesis problem. Furthermore, constraints and an objective function are obtained from kinematic analysis. Then, these constraints are implemented to the Firefly Algorithm and dimensional parameters are obtained for a desired step profile. Finally, these dimensional parameters are tested.