Design of a Planetary Leg Mechanism Using Chebyshev’s Optimization Method

After a brief review of structural schemes of planetary leg mechanisms, an application of Chebyshev’s optimization method to the kinematic design of a planetary leg mechanism is proposed. The graphs herein presented allow a quick proportioning of the mechanism for a given structural error or step lenght. The main advantage of this approach, with respect to other design methods, is the avoidance of noncircular gears for the minimization of structural error.