Mechanical design and kinematic simulation of a kind of cycling robot

In this paper, a kind of cycling robot based on six-bar linkages is introduced. The robot consists of joints and links, the lengths of which can be synthesized by geometric method. By adding two RR chains to the existing four-bar linkage to obtain the six-bar linkages. Then adding links to form parallelograms to overcome the dead point during the movement. This mechanism can complete the cycling motion as a humanoid-cycling robot, and the mechanical design is simple. The size of the mechanism can be adjusted according to the model size of the bicycle.