Configuration Synthesis And Performance Analysis Of Metamorphic Parallel Leg Mechanism

At present,the leg mechanisms of walking robots have widely used series,parallel,and hybrid mechanisms with constant degrees of freedom and topological configurations.They have poor motion flexibility and adaptability in complex non-structural environments.Combining a parallel mechanism with a transmutation mechanism to improve the innovativeness of the mechanism design,designing a transmutation mechanism that can switch multiple working configurations to perform different tasks while not only having a good load carrying capacity,small mechanism size,and fast response,The parallel leg mechanism can effectively improve the comprehensive performance of the walking robot.First of all,this paper introduces the theory of constrained spin in the synthesis principle of metamorphism mechanism,and uses mathematical analysis methods to explain the logical relationship between the metamorphism mechanism of metamorphism mechanism and other sub-morphology mechanisms.The necessary conditions of change provide a theoretical basis for the design and research of a new transmutable parallel leg mechanism.Then based on the freedom requirements of the walking robot,according to the proposed synthesis principle of the transmutable parallel mechanism configuration,a new transmutable parallel leg mechanism that can realize the three / four degree of freedom configuration switching was synthesized.As a reconfigurable moving platform of symmetric Bricard space closed-chain mechanism,a new type of transmutable parallel leg mechanism was designed.The metamorphic leg topology is a metamorphic parallel mechanism configured with a reconfigurable foot based on a space closed-chain mechanism.Secondly,the position analysis of the designed transparallel parallel leg mechanism is given,and numerical examples of inverse position solutions in two motion configurations are given.The limit transposition method is used to design the transmuted parallel leg mechanism.Based on the mechanism's speed Jacobian matrix,the mechanism dexterity performance index of the two-kinematic parallel-leg mechanism is solved;the mechanism based on the force Jacobian The matrix is used to solve the performance index of mechanism carrying capacity in two kinematic configurations of the transmutable parallel leg mechanism.Finally,according to the requirements of the walking robot for stable walking,the indicators for evaluating the walking stability of the robot are given;the gait planning of the walking robot based on the transmutable parallel leg mechanism is given,and the specific gait of the slow walking state is given;After the compound cycloid method,the foot end motion trajectory planning of the walking robot was carried out,and the walking simulation of the walking robot was performed in the Solid Works software,and the data curve of the displacement change of the driving rod of each leg of the robot was obtained.