Kinematics Analysis and Motion Simulation of a Quadruped Walking Robot with Parallel Leg Mechanism

Hongbo Wang*, 1, Zhengyan Qi2, Guiling Xu1, Fengfeng Xi3, Guoqing Hu1, Zhen Huang1
1 College of Mechanical Engineering, Yanshan University, Qinhuangdao, China
2 Shanghai Sany Precision Machine CO., LTD, Shanghai, China
3 Department of Aerospace Engineering, Ryerson University of Canada, Toronto, Canada

© 2010 Wang et al

open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: ( This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

* Address correspondence to this author at the College of Mechanical Engineering, Yanshan University, Qinhuangdao, China; Tel: 86-335-8057031; Fax: 86-335-8074783; E-mail:


Compared with the serial mechanism, the parallel mechanism has many advantages. Using the parallel mechanism as the basic leg mechanism of a walking robot, not only the payload-weight ratio can be improved, but also the robot walking stability and security performance can be enhanced. By combining the kinematics features of 3-UPU parallel mechanism with the structural features of the quadruped walking robot, the inverse kinematics of a quadruped walking robot with parallel leg mechanism is analyzed, and a unified formula is obtained. According to the design parameters, a numerical example and simulation results are provided. This research sets a theoretical basis for future investigation on the quadruped walking robot with parallel leg mechanism.

Keywords: Walking robot, parallel leg mechanism, inverse kinematics, kinematics simulation.