Configuration analysis and structure parameter design of six-leg agricultural robot with parallel-leg mechanisms

被引：0
作者：
Rong, Yu [1 ,2 ]
Jin, Zhenlin [1 ]
Cui, Bingyan [3 ]
机构：
[1] College of Mechanical Engineering, Yanshan University
[2] College of Mechanical and Electronic Engineering, Hebei Normal University Science and Technology
[3] College of Mechanical Engineering, Hebei United University
来源：
Nongye Gongcheng Xuebao/Transactions of the Chinese Society of Agricultural Engineering | 2012年 / 28卷 / 15期
关键词：
Agriculture; Configuration analysis; Kinematics; Parallel leg mechanism; Robots; Workspace;
D O I：
10.3969/j.issn.1002-6819.2012.15.002
中图分类号：
学科分类号：
摘要：
To apply the six-legged robot in the field of agriculture, the parallel mechanism was used in the mechanical leg of the six-legged robot. The six-legged walking robot could be used for transportation, cultivation, harvesting of agricultural fields in the mountains, woodlands, hills. The configuration of the six-legged robot was analyzed, and the 2-UPS+UP parallel manipulator was selected as the initial configuration of the mechanical leg. The rotational decoupled optimization of 2-UPS+UP parallel manipulator was done with screw theory, a rotational decoupled UPR+UPS+UP parallel manipulator was proposed. Based on configuration analysis, kinematics position equations were formulated. Kinematics model of the parallel manipulator was discussed as a key. The inverse position analysis and velocity mapping equations were presented. The workspace of UPR+UPS+UP parallel manipulator was analyzed. Three- dimensional graphic of workspace was drawn. By analyzing the impact of the design parameters on the work space, a set of structural parameters with good performance were selected. These studies laid the theoretical foundation for further study of the six-legged agricultural robot.
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页码：9 / 14
页数：5
相关论文
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