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 payload-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: Qifang Gu

作者单位: Dept.of Electronic Information Engineering,WuXi City College of Vocational Technology,Jiangsu,WuXi,214153

会议类型: 国际会议

会议名称: The 14th International Symposium on Distributed Computing and Applications to Business,Engineering and Science(DCABES 2015)(第十四届分布式计算及其应用国际学术研讨会)

会议地点: 贵阳

会议语种:英文

页码: 188-191

在线出版日期: 2015-08-18（万方平台首次上网日期，不代表论文的发表时间）