Hostname: page-component-7c8c6479df-8mjnm Total loading time: 0 Render date: 2024-03-27T12:15:48.267Z Has data issue: false hasContentIssue false

Design and Research of a Walking Robot with Two Parallel Mechanisms

Published online by Cambridge University Press:  15 February 2021

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

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.

Type
Article
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Khadiv, M., Moosavian, S. A. A., Yousefi-Koma, A., Sadedel, M. and Mansouri, S., “Optimal gait planning for humanoids with 3D structure walking on slippery surfaces,” Robotica 35(3), 569587 (2017).CrossRefGoogle Scholar
Kuehn, D., Schilling, M., Stark, T., Zenzes, M. and Kirchner, F., “System design and testing of the hominid robot Charlie,” J Field Robot. 34(4), 666703 (2017).CrossRefGoogle Scholar
Pan, Y. and Gao, F., “Position model computational complexity of walking robot with different parallel leg mechanism topology patterns,” Mech Mach Theory 107, 324337 (2017).CrossRefGoogle Scholar
Amirhosseini, H. and Najafi, F., “Design, prototyping and performance evaluation of a bio-inspired walking microrobot,” Iran J Sci Technol Trans Mech Eng. 44(9), 113 (2019).Google Scholar
Xi, D. and Gao, F., “Type synthesis of walking robot legs,” Chin J Mech Eng. 31(1), 15 (2018).CrossRefGoogle Scholar
Badger, J. M., Strawser, P., Farrell, L., Goza, S. M., Claunch, C., Chancey, R. and Potapinski, R., “Robonaut 2 and Watson: Cognitive dexterity for future exploration,” 2018 IEEE Aerospace Conference, 1–8 (2018).Google Scholar
Xiong, X. and Ames, A. D., “Bipedal hopping: Reduced-order model embedding via optimization-based control,” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Madrid, Spain, October 1–5 (2018).Google Scholar
SanzMerodio, D., Garcia, E. and GonzalezdeSantos, P., “Analyzing energy-efficient configurations in hexapod robots for demining applications,” Ind Robot: Int J. 39(4), 357364 (2012).CrossRefGoogle Scholar
Belter, D. and Skrzypczynski, P., “Posture optimization strategy for a statically stable robot traversing rough terrain,” Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on IEEE (2012).CrossRefGoogle Scholar
Raibert, M., “Dynamic legged robots for rough terrain,” IEEE-RAS International Conference on Humanoid Robots IEEE (2010).CrossRefGoogle Scholar
Peng, S., Ding, X., Yang, F. and Xu, K., “Motion planning and implementation for the self-recovery of an overturned multi-legged robot,” Robotica 35(5), 11071120 (2017).CrossRefGoogle Scholar
Rong, Y., Jin, Z. L. and Qu, M. K., “Study on Mechanics Structural Synthesis of Six-Legged Walking Robot with Parallel Leg Mechanisms,” Adv Mater Res. 496, 247250 (2012).CrossRefGoogle Scholar
Hashimoto, K., Sugahara, Y., Tanaka, C., Ohta, A., Hattori, K., Sawato, T., Hayashi, A., Lim, H. O. and Takanishi, A., “Unknown disturbance compensation control for a biped walking vehicle,” 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29–November 2, 2007, Sheraton Hotel and Marina, San Diego, California, USA IEEE (2007).Google Scholar
Feng, G., “A new six-parallel-legged walking robot for drilling holes on the fuselage,” Proc Inst Mech Eng, Part C: J Mech Eng Sci. 228(4), 753764 (2014).Google Scholar
Tian, Y. and Gao, F., “Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning,” Robotica 36(3), 333352 (2018).CrossRefGoogle Scholar
Taghirad, H. D., Parallel Robots: Mechanics and Control (CRC Press, Boca Raton, FL, 2013).CrossRefGoogle Scholar
Simo-Serra, P-G., “Kinematic synthesis using tree topologies,” Mech Mach Theory 72, 94113 (2014).CrossRefGoogle Scholar
Ghayour, M. and Zareei, A., “Inverse kinematic analysis of a hexapod spider-like mobile robot,” Adv Mater Res. 403–408, 50615067 (2018).Google Scholar
Lopez-Franco, C., Hernandez-Barragan, J., Alanis, A. Y. and Arana-Daniel, N., “A soft computing approach for inverse kinematics of robot manipulators,” Eng Appl Artif Intell. 74, 104120 (2018).CrossRefGoogle Scholar
Verde, D., Stan, S. D., Manic, M., Balan, R. and Matie, V., “Kinematics analysis, workspace, design and control of 3-RPS and TRIGLIDE medical parallel robots,Conference on Human System Interactions IEEE Press (2009).CrossRefGoogle Scholar
Zhang, S., Gao, J., Duan, X., Li, H., Yu, Z., Chen, X., Li, J., Liu, H., Li, X., Liu, Y. and Xu, Z., “May. Trot pattern generation for quadruped robot based on the ZMP stability margin,” 2013 ICME International Conference on Complex Medical Engineering. IEEE (2013).Google Scholar
Kim, D. J., Chung, W. K. and Youm, Y., “Geometrical approach for the workspace of 6-DOF parallel nmanipulators,” IEEE International Conference on Robotics & Automation IEEE Xplore (1997).Google Scholar