Reconfiguration Plan Analysis of Quadruped/Biped Walking Robot with Parallel Leg Mechanism
Based on the concept of reconfigurable robot, the implementation of a quadruped/biped reconfigurable walking robot with parallel leg mechanism is analyzed. According to the different layout ways of upper platforms and the different combined approaches of the lower platforms, the various leg mechanisms with six branches can be obtained. Reconfiguration plan of a quadruped/biped reconfigurable walking robot is presented. Several combined approaches are compared. A 6-SPU mechanism with the better kinematics performances is selected as leg mechanism and its kinematics analyzed. Index Terms-Walking Robot, Parallel Leg Mechanism, Reconfigurable robot, Degrees of Freedom.
Walking Robot Parallel Leg Mechanism Reconfigurable robot Degrees of Freedom.
Hongbo Wang Zhengyan Qi Guiling Xu Xing Hu
College of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China.
国际会议
青岛
英文
196-201
2010-07-15（万方平台首次上网日期，不代表论文的发表时间）