| The walking robot can walk steadily on uneven terrain, overcome obstacles andclimb stairs. In this paper, a novel reconfigurable quadruped/biped walking chair withparallel leg mechanism is proposed, which can not only walk on the planar ground inquadruped chair mode, but also realize the motion of climbing stairs in biped chair mode.The two different basic legs of PM (parallel mechanism) are analyzed respectively, andtwo kinds of gaits are planned, which lay a foundation for the kinematic and control ofwalking chair. The research exerts advantage of PM and expands application scope inservice robot, which results in high academic value and profound social significance.Firstly, status developments of quadruped walking robot and biped walking robotare introduced, and the design idea of the quadruped/biped reconfigurable walking chairis proposed, then background and significance of the research are analyzed.Secondly, the structure of the walking chair is investigated,2-UPS+UP PM and6-UPS PM are selected as the basic leg mechanisms of quadruped chair and biped chairrespectively. After the first-order coefficient matrix and the second-order coefficientmatrix of two basic leg mechanisms are established respectively, the velocity and theacceleration are accomplished.Next, based on the optimum numeric areas of index of condition number, bearingcapacity, the extreme value of speed and the magnitude of workspace of biped parallelleg mechanisms, the optimum sizes are optimized.Then, according to the gait in static state, the static stability analysis of quadrupedwalking is analyzed. In the way of adjusting gravity center separately, quadruped walkinggait is planned, and the locomotion track of quadruped foot is designed and calculated.Finally, based on the static stability analysis, the walking qualification and relatedgait parameter are gained. According to ZMP theoretic, the biped walking gait isinvestigated, and the foot track of biped walking chair is analyzed and planned. |
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