Research of 6-DOF Serial-Parallel Mechanism Platform for Stability Training of Legged-Walking Robot  

作　　者：Wei-Guo Wu Wen-Qian Du 

机构地区：[1]Humanoid and Gorilla Robot & Its Intelligent Motion Control Lab,Harbin Institute of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2014年第2期75-82,共8页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the National High-Tech Research and Development Program(Grant No.2006AA04Z201)

摘　　要：The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of 4-DOF parallel mechanism with spherical joints and prismatic pairs,and 2-DOF serial mechanism with prismatic pairs. With this design,the platform has advantages of low platform countertop,big workspace,high carrying capacity and high stiffness. On the basis of DOF analysis and computation of space mechanism,weight supporting auxiliary mechanism and raceways-balls supporting mechanism are designed,so as to improve the stiffness of designed large platform and payload capacity of servo motors. And then the whole structure design work of the platform is done. Meanwhile,this paper derives the analytical solutions of forward kinematics, inverse kinematics and inverse dynamics. The error analysis model of position and orientation is established. And then the simulation is done in ADAMS to ensure the correctness and feasibility of this design.The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of 4-DOF parallel mechanism with spherical joints and prismatic pairs, and 2-DOF serial mechanism with prismatic pairs. With this design, the platform has advantages of low platform countertop, big workspace, high carrying capacity and high stiffness. On the basis of DOF analysis and computation of space mechanism, weight supporting auxiliary mechanism and raceways-balls supporting mechanism are designed, so as to improve the stiffness of designed large platform and payload capacity of servo motors. And then the whole structure design work of the platform is done. Meanwhile, this paper derives the analytical solutions of forward kinematics, inverse kinematics and inverse dynamics. The error analysis model of position and orientation is established. And then the simulation is done in ADAMS to ensure the correctness and feasibility of this design.

关 键 词：6-DOF serial-parallel mechanism forward kinematics stability training legged-walking robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]