Trajectory Planning And Control Realization Of The Quadruped Parallel Walking Robot

Relative to the series robot, the parallel robot has many advantages, include strong bearing capacity and high precision, and becomes a research hotspot. This paper researches on a 4(2UPS+UP) parallel leg walking chair robot, the motion control is main line. The study mainly includes kinematics, motion space, trajectory planning, virtual prototyping simulation and the achieving of the control strategy.Firstly, based on the modular thought, the leg mechanism of the robot is designed as four modular, which include four same legs, based on the analysis of the structure of the robot and the coordinate transformation method, the kinematics positive solution and inverse solution of the robot are analyzed.Secondly, based on the constraint relations and kinematics inverse solutions, the motion space for foot endpoint of the single leg mechanism in the rectangular coordinate system could be obtained by using MATLAB. Then, the gait and the trajectory should be selected and planned. The displacement, velocity and acceleration for each branches of the single leg will be obtained by calculating.Next, the kinematics model will be constructed through ADAMS, and verifies the correctness of the analysis model through the comparison between the simulation of the single leg mechanism and the analysis model. The curve for displacement of each branches of every leg will be obtained by the simulation of the whole machine.Then, distributed control and the kinematics control method are selected as control strategies and control methods for the robot. Based on the Lab VIEW, each function module of the control system software is designed.Lastly, parts of the whole robot are designed and assembled. By experimental verification on the whole machine experiment platform, the planned trajectory is correct, the structure of the walking chair robot is designed reasonably, and the robot could finish the given trajectory.