Stability and Gait Planning of 3-UPU Hexapod Walking Robot

被引：14
|
作者：
Li, Ruiqin [1 ]
Meng, Hongwei [1 ]
Bai, Shaoping [2 ]
Yao, Yinyin [1 ]
Zhang, Jianwei [1 ,3 ]
机构：
[1] North Univ China, Sch Mech Engn, Taiyuan 030051, Shanxi, Peoples R China
[2] Aalborg Univ, Dept Mech & Mfg Engn, DK-9220 Aalborg, Denmark
[3] Univ Hamburg, Dept Informat, D-22527 Hamburg, Germany
来源：
ROBOTICS | 2018年 / 7卷 / 03期
基金：
中国国家自然科学基金;
关键词：
hexapod walking robot; 3-UPU parallel mechanism; kinematics; stability; gait planning;
D O I：
10.3390/robotics7030048
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot's maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.
引用
收藏
页数：17
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