| Considering the present characteristic of robot that working environment and tasksare variable, a new type reconfigurable walking robot is designed. A reconfigurablemodular robot system consists of many different modules that can be assembled into manydifferent kinematics configurations according to the requirement of special tasks. Thispaper used parallel mechanism for the body of this walking robot, the robot combines theadvantages of reconfigurable robot and walking robot, the parallel robot not only has theability of reconfigurable, but also has the strong bearing ability, easy to control. Afterreconstructed, the robot can finish the tasks by its arms, such as handing and grabbing.The stability and kinetics of this kind of reconfigurable robots are studied in this article.First, the6-URS and6-RUS reconfigurable parallel robot models are set up, then theDOF and the accuracy of choosing input is considered based on screw theory.Moreover, the drive mode of the6-URS and6-RUS robots is selected based on thecharacteristics of a variety of robot-driven approach. By calculating the maximum torqueof the drive joints needed to select the joint modules, and gives the reconfigurableprogram of the parallel robot.The Jacobian matrix and quadratic matrix of the two robots are established, then thekinetics equation are analyzed, and the input moment change regularity are found underthe condition of uniform velocity of the motion platform. The corresponding kinematicscurves are shown, which illustrate the kinematics characteristics.The computational methods of the static stability and dynamic stability of this kind ofparallel robots are given, and as a basis for analyzing the stability of this robot. Based onthe duty factor, the gait of straight going walking and the still turning are designed, and thegait of the walking robots is simulated.Finally, by using simulative software, the kinematics of the6-URS reconfigurablerobot is simulated, and the validity of the theoretical analysis is verified. |
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