Application of Parallel Mechanism in Varistructured Quadruped/Biped Human- carrying Walking Chair Robot
Application of Parallel Mechanism in Varistructured Quadruped/Biped Human- carrying Walking Chair Robot
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DOI：
10.1007/s11633-013-0741-x
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发表时间：
2013-10
影响因子：
4.3
通讯作者：
Lingfeng Sang;Hongbo Wang;Dianfan Zhang;Zhensheng Tian;Fuhai Deng;Delei Fang
中科院分区：
文献类型：
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作者：
Lingfeng Sang;Hongbo Wang;Dianfan Zhang;Zhensheng Tian;Fuhai Deng;Delei Fang
针对目前步行椅机器人存在的功能简单、承载能力较低、不能在复杂环境中行走等问题，提出了一种新型变结构四足/双足载人步行椅机器人。建议的机器人可用作双足和四足步行椅机器人。考虑到步行椅机器人从四足步行到四足步行或从四足步行到四足步行的转换，分别选择6-UPS和2-UPS+UP（U、P和S分别为万向节、棱柱副和球铰）并联机构作为四足步行机器人和四足步行机器人的腿机构。结合螺旋理论和机构学理论，计算了腿机构和身体机构在不同运动状态下的自由度，以满足机构设计的要求。分析了步行椅机器人的关键部件2-UPS+UP并联机构的运动特性。然后，绘制了动平台的工作空间，研究了结构参数对工作空间体积的影响。最后发现，当定、动平台均为等腰三角形，且其边长比和顶角比接近1时，动平台的工作空间体积较大。该研究为样机研制提供了理论依据。
For the existing problems of walking chair robot such as simple function, lower bearing capacity and not walking in complex environment, a novel varistructured quadruped/biped human-carrying walking chair robot is proposed. The proposed robot could be used as biped and quadruped walking chair robots. Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa, 6-UPS and 2-UPS+UP (U, P and S are universal joint, the prismatic pair, and sphere joint, respectively) parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot, respectively. Combining the screw theory and theory of mechanism, the degrees of freedom of the leg mechanism and the body mechanism in different motion states are computed so as to meet the requirements of mechanism design. The motion characteristics of the 2-UPS+UP parallel mechanism which is the key part of the walking chair robot are analyzed. Then, the workspace of the moving platform is drawn and the effect of the structural parameters on the workspace volume is studied. Finally, it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fixed platform and the moving platform which are isosceles triangles are close to 1. This study provides a theoretical foundation for the prototype development.