Design of a Planetary Leg Mechanism using Chebyshev's Optimization Method (abridged)

After a brief review of structural chemes 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 length. The main advantage of this approach with respect to the other design methods is the avoidance of noncircular gears for the minimization of structural error