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
Identifiers and Pagination:Year: 2010
First Page: 77
Last Page: 85
Publisher Id: TOMEJ-4-77
Article History:Received Date: 9/3/2010
Revision Received Date: 15/6/2010
Acceptance Date: 15/6/2010
Electronic publication date: 30/12/2010
Collection year: 2010
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: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
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.