类串并混联4自由度机行走机构的运动学分析

Kinematic Analysis of 4-DOF Serial-parallel Hybrid Walking Mechanism

提出一种类串并混联4自由度行走机构并对该行走机构进行了运动学分析。该行走机构由串联形式的2自由度髋关节与主动连杆和从动连杆分离形式的2自由度并联机构串联而成。首先建立行走机构的数学模型,在此基础上基于矢量法,以提高控制精度以及降低所需能耗为目的,通过矩阵变化求得其运动学正解和运动学逆解,并利用MATLAB和SOLIDWORKS软件验证了运动学逆解的准确性。结果表明:利用所述方法求得的运动学逆解是正确的。

The 4 - DOF serial - parallel hybrid walking mechanism is proposed and analyzed in this pa- per. The mechanism is series connected of a hip joint with 2 serial DOF and a 2 - DOF parallel mechanism which drive link and salve link are separated. Based on the vector method, in order to improve the control preci- sion and reduce the required energy consumption, the kinematics positive solution and kinematic inverse solution are obtained by matrix change. The accuracy of inverse Kinematic solution can be tested by MATLAB and SOLIDWORKS. The results show that the kinematic inverse solution obtained by the method is correct.