Design And Research On A Kind Of Walking Robots Based On Parallel Mechanisms

Comparing with the wheeled walking robot and pedrail walking robot,multilegged walking robot can walk on the rough road and has good adaptability to theunstructural environment. Multilegged walking robot has a broad prospect ofapplication and become one of the hot spot in the research in recent years. This paperused parallel mechanism for the body of this walking robot, put forward a kind ofwalking robots based on 6 DOF branchs, the walking robots , which not only have theindependent ground support characteristics of the traditional walking robot, but alsohave the advantage of parallel mechanism, simple structure, easy to control, strongbearing ability, can adjust the pose. The kinematics and gait of this kind of walkingrobots are studied in this article.First, a kind of walking robots which have 6 DOF and can adjust the pose basedon 3-UPS/3-RUS, 6-RUS, 3-UPS/3-URS, 6-URS parallel mechanism, then the walkingrobot models are set up, then the DOF and the accuracy of choosing input isconsidered based on screw theory.The geometric constraint of the walking robots are analyzed, and the inversekinematics of the several walking robots is solved, the numerical examples are given,and the corresponding curves are shown. The Jacobian matrix and quadratic matrix ofthe several walking robots are established, then the velocity equation and accelerationequation are presented, and the input velocity change regularity and the inputacceleration change regularity are found under the condition of uniform velocity anduniform acceleration of the motion platform. The numerical examples of velocity andacceleration are given, and the corresponding curves are shown, which illustrate thekinematics characteristics.The static stability of this kind of walking robots is analyzed. Based on the dutyfactor, the gait of straight going walking and the stand still turning are designed, themaximum stride is also proposed, and the gait of the walking robots is simulated.Finally, by using simulative software, the kinematics of the 3-UPS/3-RUS walking robot is simulated, and the validity of the theoretical analysis is verified.The research work of this thesis provides theoretical basis for the practicalapplication of the new walking robots and presents the feasibility of building walkingrobot based on parallel manipulator.