Title :
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
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4673-2125-9
DOI :
10.1109/ROBIO.2012.6490970
