并联机构在六足步行机器人设计中的应用  

Application of Parallel Mechanism in Six-foot Walking Robot Design

作　　者：魏志丽[1] 

机构地区：[1]广东松山职业技术学院,韶关512126

出　　处：《现代制造技术与装备》2017年第3期16-17,共2页Modern Manufacturing Technology and Equipment

摘　　要：并联机构在六足步行机器人结构中的应用,大大拓宽了六足步行机器人发展的领域。本文通过对六足机器人并联腿部构型的研究,将2-UPS+UP机构预设为初步的并联腿部构型;同时,基于螺旋理论对2-UPS+UP机构进行分析,通过转动解耦性的优化及变异处理,给出了一种具备转动解耦性能的UPR+UPS+UP机构。The application of the parallel mechanism in the structure of the six-legged walking robot greatly broadens the field of the development of the six-legged walking robot. In this paper, the 2-UPS＋UP mechanism is preset to the initial parallel leg configuration by studying the parallel leg configuration of the six-legged robot. At the same time, the 2-UPS＋UP mechanism is analyzed based on the spiral theory. Coupling optimization and variation processing, a UPR＋UPS＋UP mechanism with rotational decoupling performance is presented.

关 键 词：并联机构 六足步行机器人 解耦性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]