| Abstrakt: |
Aiming at the shortage of low load capacity and low control accuracy caused by error accumulation of the series quadruped robot, the 2UU-UPU parallel mechanism was adopted as the basic configuration of the robot thigh, and a long rod was added on the moving platform as the leg structure to design a novel quadruped robot. Firstly, based on the modified Kutabach-Griibler formula, the degree of freedom of the single leg mechanism was calculated and verified. Secondly, the inverse solution expression of the structure was solved by using the geometric relationship. Based on the constraint conditions of the structure, the workspace of the parallel mechanism was obtained by using MATLAB software. Then, the three-dimensional model of the quadruped robot was established in SolidWorks. Finally, the gait planning and simulation analysis of the quadruped robot were carried out. The results show that the mechanism has large working space, smooth motion and convenient control, which is suitable for the leg structure of quadruped robot. The research has a certain engineering practicability. [ABSTRACT FROM AUTHOR] |
