Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

被引：11
作者：
Niu, Jianye [1 ,2 ]
Wang, Hongbo [3 ]
Jiang, Zhiwen [1 ,2 ]
Chen, Li [1 ,2 ]
Zhang, Jianjun [1 ,2 ]
Feng, Yongfei [4 ]
Guo, Shijie [1 ,2 ]
机构：
[1] Hebei Univ Technol, State Key Lab Reliabil & Intelligence Elect Equip, Tianjin 300130, Peoples R China
[2] Hebei Univ Technol, Hebei Key Lab Robot Percept & Human Robot Interac, Tianjin 300130, Peoples R China
[3] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China
[4] Ningbo Univ, Fac Mech Engn & Mech, Ningbo 315211, Peoples R China
来源：
IEEE ACCESS | 2020年 / 8卷
基金：
中国博士后科学基金; 欧盟地平线“2020”;
关键词：
Legged locomotion; Kinematics; Fasteners; Wheels; Roads; Serial-parallel hybrid mechanism; 2-UPS+U mechanism; R plus RPS mechanism; kinematics; wheel-legged robot; MANIPULATORS; OPTIMIZATION; DYNAMICS; 3-RPS;
D O I：
10.1109/ACCESS.2020.3001653
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A three-DOF (degree-of-freedom) serial-parallel hybrid mechanism is proposed that consists of a 2-UPS+;U component (UPS: universal-/prismatic-/spherical-joint chain and U: universal joint) and an R+RPS component (R: revolute joint and RPS: revolute-/prismatic-/spherical-joint chain). This mechanism can provide high precision and a large workspace, which indicates its applicability to wheel-legged robots. To verify our proposal, a mobility analysis showed that the mechanism simultaneously achieved three rotational movements. Then, the inverse/forward position analysis, velocity analysis, acceleration analysis, and stiffness analysis were carried out. Finally, a prototype of the mechanism was fabricated and its position error was found to be <1.8% despite the large workspace. These results demonstrate the effectiveness of our proposal and provide a new approach for designing new mechanisms for wheel-legged robots.
引用
收藏
页码：111931 / 111944
页数：14
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