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
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