Design and Analysis of the Quadruped Walking Robot Based on 3-RPS Parallel Mechanism

Abstract:

Based on the importance of the robot for the elderly and the disabled, a quadruped walking robot using 3-RPS parallel mechanism as the basic leg mechanism is proposed. The structure of the basic leg is described, and the whole structure of the quadruped walking robot is formed. Then taking the workspace of the basic leg as the standard, the optimum size parameters of the upper platform and the lower platform of the based leg are achieved. Meanwhile the workspace of the basic leg is obtained by the anti-solution search method. Taking the basic leg as analysis object and applying the virtual organization method, the kinematic expression is got. All of these analyses lay a theoretical foundation for the further study on the quadruped walking robot with parallel leg mechanism.

• Periodical: Applied Mechanics and Materials (Volumes 373-375)
• Pages: 201-205
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.373-375.201
• Online since: August 2013
• Authors: Hong Bo Wang, Yun Wang, Ling Feng Sang, Qi Fang Gu, Yong Fei Feng
• Keywords: Basic Leg Mechanism, Kinematics, Mechanical Design, Quadruped Walking Robot

References

[1] Y.H. Dong, C.Y. Hou, S.L. Tian: Applied Science and Technolody. Vol. 37 (2010), pp.10-13.

[2] J.D. Wang, K.Y. Lu, S.F. Xu and Y.Y. Lei: Manufacturing Automation. Vol. 31 (2009), pp.4-6.

[3] S. Hirose, K. Kato: Study on Quadruped Walking Robot in Tokyo Institute of Technology-past, present and future, IEEE International Conference on Robotics and Automation, San Francisco, USA, 2000, pp.414-419.

DOI: 10.1109/robot.2000.844091

[4] L.H. Ding, R.X. Wang, H.S. Feng, et al: Chinese Journal of Mechanical Engineering. Vol. 23 (2012), pp.505-514.

[5] C.C. Fan, S.K. Han, H.R. Gu: Journal of Hebei University of Technology. Vol. 33 (2004), pp.27-30.

[6] G. Carbone, Y. Sugahara, H.O. Lim, et al: Stiffness Performances Estimation for Biped Locomotor WL-15, Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 03, Kobe, 2003, pp.956-961.

DOI: 10.1109/aim.2003.1225471

[7] H.B. Wang, Z.Y. Qi, Z.W. Hu, et al: Chinese Journal of Mechanical Engineering. Vol. 45 (2009), pp.24-30.

[8] Y. Rong, Z. L. Jin: Optical and Precision Engineering. Vol. 20 (2012), pp.1532-1541.

[9] Z. Huang, Y.S. Zhao, T.S. Zhao: Advanced Spatial Mechanism (Higher Education Press, Beijing, 2006).

[10] L.J. Zhang, C. Lei, F. Guo, et al: Journal of Yanshan University. Vol. 36 (2012), pp.196-200.