Research On Parallel Leg Mechanism Of Biped Robot

So far, the leg mechanisms of most biped walking robots are in series, but parallel mechanisms have many advantages that mechanisms in series haven't. So, it has very important significances of theory and engineering to study and open out parallel mechanisms as the leg mechanisms of biped walking robots.In this paper, a new-type biped-walking robot is brought forward and designed which is equipped by parallel leg mechanisms according to parallel Stewart platform. It's accomplished by simple mechanism synthesization based in. the elementary principles of bionics. And, the parameters of the biped walking robot is defined.The relations between the mechanism parameters and some performance parameters of Stewart platform such as leg position workspace , pose workspace , flexibility ratio and so on is studied. The leg mechanism is researched through space model theory, area performance atlas of leg position workspace is done and some conclusions are drew. The correctness of the preliminary mechanism parameters is proved by all of above. The assemblage angle and maximum step are studied, the method to calculate the maximum step of random structure paramers and random walking orientations is proposed and some formulations are deduced. The singularity and singularity workspace are analysed.Based in ZMP theory, the track programming is finished depending on leg position workspace. The arithmetic frame is turned out by off programming. The correctness of the design and analysis of the biped walking robot is testified by graphics simulation. The sole sensor system is simply studied , the way to solve the real time question of ZMP point is gave, and the control frame and arithmetic frame of feedback revising system is brought forward.Some conclusions are drawn. The shortcomings of this paper are summarized, and the facets needed to rectify and deepen of this paper are brought forward.