并联腿机构在四足/两足可重组步行机器人中的应用

Application of Parallel Leg Mechanisms in Quadruped/Biped Reconfigurable Walking Robot

将并联腿机构用于助残步行机器人,可大大提高步行机器人的载重/自重比,从而节省能源,延长行走时间。为此提出并联腿机构四足步行机器人。四足稳定性好,安全性高,但是上下楼梯或台阶时座椅有较大的倾斜。为了解决这一问题,提出一种四足/两足可重组并联腿机构步行机器人。在一般路面采用四足行走,消除使用者乘坐两足步行机器人时的恐惧心理;在上下楼梯或台阶时采用两足行走,弥补四足步行机器人行走时产生的身体倾斜。提出四足/两足可重组步行机器人机构上的实现方法,分析3自由度3-UPU并联机构,以及其两两合并后的6-SPU并联机构,讨论它们在四足/两足可重组并联腿步行机器人中的应用,通过自由度计算进行四足/两足步行机器人的可动性分析,为四足/两足可重组并联腿机构步行机器人的进一步研究奠定了理论基础。

Using the parallel leg mechanisms, the life assistive walking robot can improve the payload-weight ratio, save the battery energy and prolong the walking time. Therefore, a quadruped walking robot with parallel leg mechanisms is presented. The robot features good stability and high safety, but the seat has a steep slope when the robot goes up and down stairs/steps. In order to cope with this problem, a walking robot with quadruped/biped reconfigurable parallel leg mechanisms is proposed. In general road, the robot walks on four legs, so that the afeared feeling of disabled people riding the biped walking robot can be eliminated; when going up and down stairs/steps, the robot walks on two legs, so that the body slope caused by the quadruped walking robot can be remedied. The implementation of mechanisms for the reconfigurable quadruped/biped walking robot is described. The 3-UPU parallel mechanism with three degrees of freedom and the 6-SPU parallel mechanism consisting of two 3-SPU are analyzed, and the application of parallel mechanisms in the reconfigurable quadruped/biped walking robot is discussed. The mobility of the reconfigurable quadruped/biped walking robot is analyzed through the calculation of degree of freedom. This research provides a theoretical basis for further investigation on the walking robot with quadruped/biped reconfigurable parallel leg mechanisms.