The requirements needs to be followed and all calculations shown. If more information is needed let me know these are 3 to 4 bar linkages (see CAD drawing attached with dimensions)

need stress analysis?

angular velocity - low, middle, and high end?

circumference of rotation?

RPM of rotation - low, middle, and high end?

Maximum force required to move the parts forward?

there will be a wheel on the bottom ?

torque required by each wheel?

all parts are 1/4 inch aluminum ?

force required to move the walker forward?

required MOTOR RPM?

there are 2 sets of these to make as a walker

all calculations shown?

weight can be calculated by applying material to CAD drawing and adding the total multiply by 2 (2 sets of legs)?

for reference you can use "jansen linkage system" if needed.

sample stress analysis included but may not be correct

Attachment:- CAD drawing and Preliminary Analysis.zip