Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth rover BJTUBOT  

作　　者：Yifan WU Sheng GUO Luquan LI Lianzheng NIU Xiao LI 

机构地区：[1]School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China

出　　处：《Frontiers of Mechanical Engineering》2023年第2期115-142,共28页机械工程前沿（英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.52275004).

摘　　要：Earth rover is a class of emerging wheeled-leg robots for nature exploration.At present,few methods for these robots’leg design utilize a side-mounted spatial parallel mechanism.Thus,this paper presents a complete design process of a novel 5-degree-of-freedom(5-DOF)hybrid leg mechanism for our quadruped earth rover BJTUBOT.First,a general approach is proposed for constructing the novel leg mechanism.Subsequently,by evaluating the basic locomotion task(LT)of the rover based on screw theory,we determine the desired motion characteristic of the sidemounted leg and carry out its two feasible configurations.With regard to the synthesis method of the parallel mechanism,a family of concise hybrid leg mechanisms using the 6-DOF limbs and an L1F1C limb(which can provide a constraint force and a couple)is designed.In verifying the motion characteristics of this kind of leg,we select a typical(3-UPRU&RRRR)&R mechanism and then analyze its kinematic model,singularities,velocity mapping,workspace,dexterity,statics,and kinetostatic performance.Furthermore,the virtual quadruped rover equipped with this innovative leg mechanism is built.Various basic and specific LTs of the rover are demonstrated by simulation,which indicates that the flexibility of the legs can help the rover achieve multitasking.

关 键 词：design synthesis parallel mechanism hybrid leg mechanism screw theory quadruped robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]