Redundant actuation research of the quadruped walking chair with parallel leg mechanism

Author

Hongbo Wang ; Lingfeng Sang ; Xiong Zhang ; Xiangwang Kong ; Yan Liang ; Dianfan Zhang

Author_Institution

Parallel Robot & Mechatron. Syst. Lab. of Hebei Province & Key Lab. of Adv. Forging & Stamping Technol. & Sci. of Minist. of Nat. Educ., Yanshan Univ., Qinhuangdao, China

fYear

2012

fDate

11-14 Dec. 2012

Firstpage

223

Lastpage

228

Abstract

This paper describes the mechanical design and coordinate system setting of the quadruped/biped reconfigurable walking chair with parallel leg mechanism. Based on screw theory, the input selecting principle under determinate movement is analyzed and kinematic screw system of the branch UPU mechanism is established, and then the corresponding constraint screw system is got. According to the input selecting principle and taking the constraint force/torque dexterousness as the performance evaluation index, the optimal input combinations are obtained, which lays theoretical foundation for kinematics and control of walking chair.

Keywords

fasteners; legged locomotion; performance index; robot kinematics; branch UPU mechanism; constraint force-torque dexterousness; constraint screw system; coordinate system setting; input selecting principle; kinematic screw system; mechanical design; parallel leg mechanism; performance evaluation index; quadruped walking chair; quadruped-biped reconfigurable walking chair; redundant actuation research; screw theory; walking chair control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

978-1-4673-2125-9

Type

conf

DOI

10.1109/ROBIO.2012.6490970

Filename

6490970