Performance Analysis of a Quadruped/Biped Reconfigurable Walking Robot with Parallel Leg Mechanism

摘要：

Combining the modularization and reconfigurable ideas, a quadruped/ biped reconfigurable walking robot with parallel leg mechanism is presented. According to design requirements, structural parameters of quadruped/biped walking robot are determined and numeric area of them and the relationship between them are analyzed. The requirements of walking velocity and bearing capacity of quadruped/biped walking robot are taken as measurable indexes to analyze the dexterousness, global minimum velocity index and bearing capacity index, and obtain the optimum numeric area of every parameter, which lay the theoretical foundation for manufacturing of prototype.

关键词： Reconfigurable Parallel mechanism Performance analysis

作者: Hongbo Wang Xing Hu Lingfeng Sang Zhen Xu Jianjun Wang

作者单位: College of Mechanical Engineering, Yanshan University,Qinhuangdao, China

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 587-598

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）