Application of Parallel Mechanism in Varistructured Quadruped/Biped Human-carrying Walking Chair Robot  

作　　者：Ling-Feng Sang Hong-Bo Wang Dian-Fan Zhang Zhen-Hua Tian Fu-Hai Deng De-Lei Fang 

机构地区：[1]Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University [2]Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University [3]Science and Technology Research Institute, Yanshan University

出　　处：《International Journal of Automation and computing》2013年第5期447-454,共8页国际自动化与计算杂志（英文版）

基　　金：supported by National Natural Science Foundation of China (No. 61075099) ;FP7-PEOPLE-2012-IRSES:Marie Curie Action "International Research Staf Exchange Scheme" (No. 318902)

摘　　要：For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.

关 键 词：Human-carrying walking chair robot parallel leg mechanism degree of freedom varistructure workspace kinematics 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]