System Development And Research Of A New Self-reconfigurable Parallel Walking Robot

For the mission of samples taken on special occasions, in this paper, a novel reconfigurable parallel walking robot was proposed by combining the parallel robot and the reconfigurable mechanism. Studying on structure design and analysis, reconstruction mode introduction, stability analysis, gait planning, motion simulation, control system research and simulation, a new way for the application of parallel mechanism and reconstruction structure were created which laid theoretical basis for the practical application and are major industrial prospects. The main contents are as follows.Firstly, 6-SRU parallel mechanism was chosen as the main body of the robot, and then, the refactoring modes were analysed, where the reconfigurable cell was selected. Based on screw theory, the degree of freedom of the robot in different condition was studied to prove the reasonability of the robot mechanism. Three self-refactor pattens were proposed and two self- reconfigurable structures were designed. By the linkage systems of manipulator, the workspace of the end point was drawn, which proves no interference between refactoring branch and the whole mechanism.Secondly, based on the ZMP method, the dynamic stability of the robot was analysed and walking gait was researched. The walking straight gait, turning gait and climbing gait were obtained, which laid a theoretical basis for the robot’s walking.Thirdly, the main mechanical structure modules(self- locking module, refactor module and self- reconfigurable structure) were designed. Through ADAMS, the virtual model of walking robot was established. The robot kinematics and dynamics simulation analysis were obtained and compared with the theoretical results so as to prove the validity of the model and the correctness of the robot trajectory planning.Then, contraposing the movement requirement, this paper made the distributed half closed loop servo control system as the control system of the robot and described the flow chart. Building the hardwares control system, using MATLAB/Simul ink module to set up control system simulation models. Three control strategies were proposed. Moreover, through the simulation results of control systems, this paper, explored the merits of control strategy and selected the appropriate control strategy. Then, as the actual wiring theory reference, the virtual jointed of the main hardwares by relative ports were described.Lastly, in the end of the dissertation, future trends of research are outlined, such as, the improvement of structure, the centring of self-configurable structure, and the practical construction and programming of the control system.