Design and Optimization of a Walking Over-Constrained Mechanism

  • Özgün SelviEmail author
  • Marco Ceccarelli
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In this paper, a walking overconstrained mechanism with one DoF is presented. Firstly, its dimensional parameters and geometry are shown and a step profile which is wanted to be followed by end point of the walking mechanism is proposed. Kinematic equations of the walking mechanism are extracted to use them later as constraints for Firefly Algorithm. Algorithm is run in get the optimized dimensional parameters to provide the desired step profile. Results are presented.


walking mechanism dimensional synthesis over constrained 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Cankaya UniversityAnkaraTurkey
  2. 2.University of Rome Tor VergataRomaItaly

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