Theoritical Study Of A Novel 6UPS/3UPU Parallel Manipulator For Wall Climbing

With the advantages and widely application of the parallel mechanisms, in the field of contemporary mechanism area, the parallel mechanisms are received increasingly interests in academic and industrial community. The parallel mechanism has high stiffness, high bearing capacity, small inertia and no accumulation of position error. The low mobility and six-DOF parallel mechanism both have their own advantages relatively. It is a new experiment for applying the parallel mechanism to wall-climbing robot.A new kind of 6UPS/3UPU wall-climbing parallel mechanism is presented in this paper, which have applied a Chinese patent already. The main part of this wall-climbing robot is a 6UPS parallel mechanism, which turn into a 3UPU parallel mechanism in the climbing situation. That is to say this wall-climbing robot is a kind of mechanism which integrates the advantage of low mobility and six-DOF parallel mechanisms. This wall-climbing robot is different from traditional parallel mechanism for the use of reset spring. The main research in this paper is as follows.The position analysis models of these two kind mechanisms based on the vector method are established, respectively. The kinematic of these two kind mechanisms based on the theory of kinematic of rigid body are established, respectively. The static and dynamic models of these two kind mechanisms considered the reset spring based on the principle of virtual work are established. These models are verified by the simulation of Solidworks and Matlab.Second, the reciprocate process during climbing course of the wall-climbing robot is analyzed. The kinematic and dynamic models of the recovery process based on the vector theory and principle of virtual work are established, respectively. These models are verified by the simulation of Solidworks and Matlab.The motion of the wall-climbing parallel mechanism is planned and the walking gait is simulated. The animation of the climbing process is simulated by Solidworks, which verified the feasibility of the climbing ability.