Kinematics Analysis of Walking Robot Based on Double Stewart Parallel Mechanism

被引：0
|
作者：
Jia, Shuo [1 ]
Chen, Wei [1 ]
Zhang, Wenchang [2 ]
Wu, Hang [2 ]
Li, Weixiao [3 ]
机构：
[1] Tianjin Univ Technol, Tianjin Key Lab Adv Mechatron Syst Design & Intel, Tianjin, Peoples R China
[2] Acad Mil Sci Chinese PLA, Inst Med Support Technol, Tianjin, Peoples R China
[3] Nanjing Univ Posts & Telecommun, Informat Management & Informat Syst, Nanjing, Peoples R China
来源：
2019 CHINESE AUTOMATION CONGRESS (CAC2019) | 2019年
关键词：
walking robot; motion rules; Stewart parallel mechanism; kinematics analysis;
D O I：
10.1109/cac48633.2019.8996334
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Parallel mobile robots have recently attracted wide attention due to their strong load capacity, high running stability and rapid response speed. This paper conducts the kinematics research based on a pair of novel mobile legs that consist of a dual Stewart parallel mechanism. Firstly, we describe its motion mechanism and analyze the DOF of the mechanism in detail. Secondly, the forward and inverse kinematic solutions of the mechanism are computed and analyzed, and then the workspace is obtained by Matlab simulation. Thirdly, according to the principle of kinematics, we carry out dynamic performance optimization research to analyze and compare various motion control rules. Finally, the human-computer interface is designed for ease of analysis and displaying the kinematic rules of robot motion.
引用
收藏
页码：5530 / 5535
页数：6
相关论文
共 50 条
  • [1] Kinematics and Dynamics Analysis of a Quadruped Walking Robot with Parallel Leg Mechanism
    WANG Hongbo
    SANG Lingfeng
    HU Xing
    ZHANG Dianfan
    YU Hongnian
    Chinese Journal of Mechanical Engineering, 2013, 26 (05) : 881 - 891
  • [2] Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism
    Hongbo Wang
    Lingfeng Sang
    Xing Hu
    Dianfan Zhang
    Hongnian Yu
    Chinese Journal of Mechanical Engineering, 2013, 26 : 881 - 891
  • [3] Kinematics and Dynamics Analysis of a Quadruped Walking Robot with Parallel Leg Mechanism
    Wang Hongbo
    Sang Lingfeng
    Hu Xing
    Zhang Dianfan
    Yu Hongnian
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2013, 26 (05) : 881 - 891
  • [4] Direct kinematics of Stewart mechanism robot
    Zhuang, Yufeng
    Huang, Xiguang
    Liao, Qizheng
    Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2009, 35 (01): : 48 - 51
  • [5] Kinematics of 3-UPU Parallel Leg Mechanism Used for a Quadruped Walking Robot
    Gu, Qifang
    14TH INTERNATIONAL SYMPOSIUM ON DISTRIBUTED COMPUTING AND APPLICATIONS FOR BUSINESS, ENGINEERING AND SCIENCE (DCABES 2015), 2015, : 188 - 191
  • [6] Design and Analytical Kinematics of a Robot Wrist Based on a Parallel Mechanism
    Gan, Dongming
    Seneviratne, Lakmal
    Dias, Jorge
    2012 WORLD AUTOMATION CONGRESS (WAC), 2012,
  • [7] Kinematics Analysis and Verification on the Novel Reconfigurable Ankle Rehabilitation Robot Based on Parallel Mechanism
    Zeng, Shilong
    Yao, Ligang
    Guo, Xiaoning
    Wang, Hengli
    Sui, Pengju
    NEW TRENDS IN MECHANISM AND MACHINE SCIENCE: FROM FUNDAMENTALS TO INDUSTRIAL APPLICATIONS, 2015, 24 : 195 - 202
  • [8] Design and Analysis of the Quadruped Walking Robot Based on 3-RPS Parallel Mechanism
    Wang, Hongbo
    Wang, Yun
    Sang, Lingfeng
    Gu, Qifang
    Feng, Yongfei
    MECHATRONICS, ROBOTICS AND AUTOMATION, PTS 1-3, 2013, 373-375 : 201 - +
  • [9] Study on kinematics analysis and mechanism realization of a novel robot walking on water surface
    Gao, Tiehong
    Cao, Junyi
    Zhu, Dunyu
    Zhi, Jinzhang
    2007 IEEE INTERNATIONAL CONFERENCE ON INTEGRATION TECHNOLOGY, PROCEEDINGS, 2007, : 685 - +
  • [10] Kinematics and workspace analysis of a parallel wire mechanism for measuring a robot pose
    Jeong, JW
    Kim, SH
    Kwak, YK
    MECHANISM AND MACHINE THEORY, 1999, 34 (06) : 825 - 841
12345