Reconfiguration plan analysis of quadruped/biped walking robot with parallel leg mechanism

Based on the concept of reconfigurable robot, the implementation of a quadruped/biped reconfigurable walking robot with parallel leg mechanism is analyzed. According to the different layout ways of upper platforms and the different combined approaches of the lower platforms, the various leg mechanisms with six branches can be obtained. Reconfiguration plan of a quadruped/biped reconfigurable walking robot is presented. Several combined approaches are compared. A 6-SPU mechanism with the better kinematics performances is selected as leg mechanism and its kinematics analyzed.