Multi-Objective Optimization of the Chebyshev Lambda Mechanism

Walking mechanisms are a solution for cases in which wheels not applicable, such as uneven or stepped surfaces and withobstacles. Furthermore, it is possible to tailor mechanism footpaths expected working conditions through optimization. Thus, this paper, optimization process was proposed, focusing on single-leg performance. Numerical Simulink calculations were used determine objective function values, then input non-dominated sorting genetic algorithm (NSGA-II) In each following generation, NSGA-II provided new set of units evaluation. The procedure applied the single leg Chebyshev lambda better illustrate it, enabling comprehensive analysis candidates. Four functions (i.e., length x-direction, trajectory height variation, maximum foot acceleration, speed fluctuation) carry out multi-objective calculation time approximately 2 s/unit.