Kinematics Analysis and Motion Simulation of a Quadruped Walking Robot with Parallel Leg Mechanism
نویسندگان
چکیده
Compared with the serial 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. By combining the kinematics features of 3-UPU parallel mechanism with the structural features of the quadruped walking robot, the inverse kinematics of a quadruped walking robot with parallel leg mechanism is analyzed, and a unified formula is obtained. According to the design parameters, a numerical example and simulation results are provided. This research sets a theoretical basis for future investigation on the quadruped walking robot with parallel leg mechanism.
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