A new six- parallel- legged walking robot for drilling holes on the fuselage

被引：58

作者：

Pan, Yang ^{[1
]}

Gao, Feng ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Dept Mech Engn, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2014年 / 228卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Parallel mechanism; legged robot; topology pattern; hybrid control; MANIPULATOR; DESIGN;

D O I：

10.1177/0954406213489068

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, a new kind of six-parallel-legged robot is presented. It is designed for drilling holes on the aircraft surface. Each leg of the robot is a 3-DOF parallel mechanism with three chains: 1UP and 2UPS. The three prismatic joints are active joints and can be controlled either by position or by force. First, the task process and the gait plan are discussed and then, according to the requirement, the control method is introduced. After that, the mechanism topology patterns under different working conditions are studied and the control mode of each motor is determined. Then the kinematical model is built up, based on which the position control curves can be obtained. The simulation result shows that the robot can walk pretty well on the fuselage surface and that the actuation forces are quite smooth. Furthermore, the first prototype has been manufactured and some experiments such as walking and manipulation have been done.

引用

页码：753 / 764

页数：12

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