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Design and Research of a Walking Robot with Two Parallel Mechanisms

Published online by Cambridge University Press:  15 February 2021

Huanhuan Ren Open the ORCID record for Huanhuan Ren [Opens in a new window] ,
Lizhong Zhang  and
Chengzhi Su
Huanhuan Ren
Affiliation:
College of Mechanical and Electric Engineering, Changchun University of Science and Technology, Changchun130022, China
Lizhong Zhang*
Affiliation:
College of Mechanical and Electric Engineering, Changchun University of Science and Technology, Changchun130022, China
Chengzhi Su
Affiliation:
College of Mechanical and Electric Engineering, Changchun University of Science and Technology, Changchun130022, China
*
*Corresponding author. E-mail: custmechanic@163.com
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Summary

In this paper, a new type of biped mobile robot is designed. Each leg of the robot is a 6 degree-of-freedom (DOF) parallel mechanism, and each leg has three relatively fixed landing points. The leg’s structure gives the robot better performance on large carrying capacity, strong environmental adaptability and fast moving speed simultaneously. At the same time, it helps the robot move more steadily and change direction more simply. Based on the structural features of the leg, the inverse kinematics model of the biped robot is established and a unified formula is obtained. According to an analysis of robot’s workspace, gait planning is completed and simulated. Finally, the special case that the robot can keep the upper body horizontal while walking on a slopy surface is validated.

Keywords

Biped robot6 DOF parallel mechanismWorking spacePath planning
Type
Article
Information
Robotica , Volume 39 , Issue 9 , September 2021 , pp. 1634 - 1641
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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