Kinematics of 3-UPU Parallel Leg Mechanism Used for a Quadruped Walking Robot

摘要：

Compared with series mechanism, the parallel mechanism has many advantages. Using the parallel mechanism as the basic leg mechanism of a walking robot, not only the pay load-weight ratio can be improved, but also the robot walking stability and security performance can be enhanced. This paper proposes the application of a typical 3-UPU parallel mechanism in a quadruped walking robot. The inverse and forward position solutions of 3-UPU parallel mechanism as standing leg are obtained. Based on the first order kinematics influence coefficient matrix, the corresponding global velocity performance index of the 3-UPU parallel mechanism is analyzed. This research provides a theoretical basis of further investigation for the quadruped walking robot with parallel leg mechanism.

关键词： walking robot parallel leg mechanism position analysis influence coefficient matrix performance analysis

作者: Dianfan Zhang Guiling Xu Zhengyan Qi Hongbo Wang Xing Hu

作者单位: College of Mechanical Engineering, Yanshan University, 066004, Qinhuangdao, China Shanghai Sany Precision Machine CO., LTD, 200120, Shanghai, China College of Mechanical Engineering, Yanshan University,066004, Qinhuangdao, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measurement and Control Engineering(2010年IEEE测量与控制工程国际会议 ICMCE2010)

会议地点: 成都

会议语种:英文

页码: 425-430

在线出版日期: 2010-11-16（万方平台首次上网日期，不代表论文的发表时间）