Research On The Quadruped Walking Robot Based On3-RPS Parallel Mechanism

The use of robots appeared in the industrial field firstly. With the continuousdevelopment of science and technology, the application range of robots is more and morewidely. The walking robot used for the elderly and disabled takes as a branch of robotsand can support the older and disabled for the daily lives. This paper researches on aquadruped walking robot with parallel mechanism for the elderly and the disabled. Using3-RPS parallel mechanism as the leg mechanism is the characteristics of this robot, whichhas bigger stiffness, more stable structure, no accumulated error and higher carryingcapacity.Firstly, three mechanisms including serial mechanism, planar mechanism and parallelmechanism are analyzed to take as the leg mechanism of quadruped walking robot. Inview of the user and the working environment of the designed robot for the elderly and thedisabled, the leg mechanism of quadruped walking robot is determined. The movementcharacterisitics and the dimension optimization of3-RPS parallel mechanism are analyzed,then the basic leg mechanism and the whole mechanism are determined.Secondly, the kinematics of the single swing leg and the whole robot is analyzed byusage of Influence Coefficients Theory. The displacement, velocity and acceleration of3-RPS parallel mechanism as the swing leg of the quadruped walking robot are analyzedand the kinematics model is established. Based on above foundation, the kinematics modelof the whole robot is also analyzed. The relevant figures including displacement, velocityand acceleration are obtained by numerical example.Thirdly, the dynamics of the single swing leg and the whole robot is analyzed byLagrange Analysis Method. The driving force equation and dynamics equation of thesingle swing leg are obtained as well as numerical example and relevant figures. Usingsame method, the dynamics equation of the whole robot is established. Through numericalexample, the acceleration and driving force change of every branche in standing leg aregot, then the angle change curves of auxiliary device are obtained.Finally, the walking stability and gait of the quadruped walking robot with parallelmechanism are researched. The best gait of this robot is put forward through three aspects such as demand of working space, stable margin and gait coordination. The control systemof the quadruped walking robot with parallel mechanism is simple introduced. Thefunction of component is described from the hardware aspect.