Optimal Dimensional Design of Parallel Mechanical Leg

In order to expand the configuration of the leg mechanism of a legged robot, a Parallel Mechanical Leg (PML) with two rotational and three translational degrees of freedom (DOF) is proposed, and the structural parameters are optimized and designed based on the dexterity of the mechanism. Firstly, the mechanism configuration of the 5 DOF PML is described and its degrees of freedom are analyzed; secondly, the velocity, workspace, and Jacobi matrix of the mechanism are analyzed; finally, the inverse of the Jacobi matrix condition number is used as the index of dexterity, and the structural parameters are optimized by using the limited normalization method and the ternary plot.