Accuracy Analysis And Optimization Design Of An Aquadruped/Biped Walking Robot With Parallel Leg Mechanisms

With the aging of the population growing speed of the older and the number of the disabled, a large number of scholars has carried on deep research on the wheeled robots used for the elderly and the disabled and legged series leg walking chair. This paper researches on the aquadruped / biped walking chair robot with parallel leg mechanisms, this paper mainly carries on the accuracy analysis and optimization design, and completed the simulation of the single swing leg and the whole robot.Firstly, the kinematics model of the aquadruped / biped walking chair robot with parallel leg mechanisms is established. The inverse position equation of the single swing leg and the whole robot are deduced, also the constraint equations of quadruped leg mechanismand is obtained, all these lay foundation for the dexterousness analysis, carrying capacity analysis, accuracy analysis and the structural dimensions optimization of the aquadruped / biped walking chair robot with parallel leg mechanisms.Secondly, the dexterousness and carrying capacity of the single swing leg and the whole robot are analyzed, and the linear velocity performance index maps, the angular velocity performance index maps, the minimum carrying capacity performance index maps are plotted, so we get the relationship between the parameters and the performance, and the better the relationship between the parameters and the structure of each performance is obtained.Thirdly, the the error analysis model of the aquadruped / biped walking chair robot with parallel leg mechanisms is established. The mapping relationship between the driving rod length error, the moving platform and the static platform hinge installation error and the end effector pose error is deduced, the error curves are plotted. Also the accuracy and the sensitivity are analyzed using interval analysis and the size range with minimum error is obtained.Three optimization objectives are obtained with consideration of the dexterity, the carrying capacity and the accuracy, then the multi-objective optimization of the aquadruped / biped walking chair robot with parallel leg mechanisms is finished with the improved genetic algorithm.Finally, the simulation research is finished with ADAMS. The correctness of the inverse position equation of the single swing leg, the whole robot and velocity performance analysis and the application of interval analysis theory on the accuracy and sensitivity are verified.