Biped Foot Robot Of Parallel Leg Machanism Of Kinematic Analysis And Gait Planning

So far, biped robot of research has undergo different developmental phase ,but the leg mechanisms of most biped walking robots are in series. In fact , the serial mechanisms have many disadvantages isn't avoided. So the parallel robot of development have become an trend in order to meet the demand that serial mechanisms haven't.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 on the elementary principles of bionics. And, the gait parameters of the biped walking robot is defined. According to anthropic walking trait, the robot walking action is rationally programmed by divided posture and time .The foot of trajectory is programmed in order to complete preconcerted target.According to the robot of trait, the robot of kinematics is analysed by inverse kinematics . The coordinate transform in kinetic course was given .and the velocity and acceleration is analysed by influence coefficient .The changeable velocity and acceleration of curve in the ideal condition is designed and analysed .Based on ZMP theory, formula calculates ZMP by direct and indirect means is deduced . The relation between robot of stability and steady area is deduced when the robot walks in the ideal ground . The robot can walk steadily on the condition that the center of gravity of trajectory project on the ground to lie in the steady area .Besides the stability , the intervene has great influence on the robot walking . The robot of intervene come forth spherical joint and embranchment .In the paper , maximal angle of the robot of spherical joint when the robot is walking is given . When the span between two embranchments supers to each embranchment of diameter ,the intervene can't happen.