The Design Of Quadruped Robot Based On2-UPS&UP Parallel Mechanism Leg

Based on the parallel mechanism, the thesis proposed a new quadruped robot, a threedegree of freedom parallel mechanism is designed for the new quadruped robot's legs.That parallel mechanism has some advantages, such as good carrying capacity, fastresponse and highly modularity and so on.The inverse and positive kinematics is built and validated the positive solutions ofposition. According to the main constraints of this mechanism, using the geometricmethod under the condition of length limits, the robot's three-dimensional map ofworkspace is investigated. The thesis analysed how the mechanism's structure parametesaffect the workspace's size.According to the inverse solutions, this paper deduced the mechanism's velocitytransmission Jacobin matrix and difined the general velocity transmission evaluationindexes. The mechanism's statics is analysised and the force transmission Jacobin matrixis solved. The thesis analysed the mechanism's structure parametes on the influence of thetwo evaluation indexes. A group of velocity transmission dexterity degrees and forcecarrying capacity evaluation indexes are draw in space distribution within the boundary ofworkspace.Through the quadruped robot dimension synthesis, determined the quadruped robotstructure parameters, and set up quadruped robot virtual prototype.This paper also made the preliminary planning of the quadruped robot gaitprogramming,and planed two gait of walk and tort.Used ADAMS software simulationanalysis,this quadruped robot can realize walking simulation environment in two gaits.