Kinematics Analysis and Motion Simulation of a Quadruped Walking Robot with Parallel Leg Mechanism

摘要

Compared with the serial mechanism, the parallel mechanism has many advantages. Using the parallelmechanism as the basic leg mechanism of a walking robot, not only the payload-weight ratio can be improved, but alsothe robot walking stability and security performance can be enhanced. By combining the kinematics features of 3-UPUparallel mechanism with the structural features of the quadruped walking robot, the inverse kinematics of a quadrupedwalking robot with parallel leg mechanism is analyzed, and a unified formula is obtained. According to the designparameters, a numerical example and simulation results are provided. This research sets a theoretical basis for futureinvestigation on the quadruped walking robot with parallel leg mechanism.