Study on Mechanics Structural Synthesis of Six-Legged Walking Robot with Parallel Leg Mechanisms

Yu Rong; Zhen Lin Jin; Meng Ke Qu

doi:10.4028/www.scientific.net/AMR.496.247

Paper Titles

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Study on Effect of Gasket Stress Distribution on Bolted Flanged Connections
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Grinding Load Identification of an Horomill Using Inverse Pseudo Excitation Method
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Study on Mechanics Structural Synthesis of Six-Legged Walking Robot with Parallel Leg Mechanisms
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Electron Transport Properties of Rippled Zigzag Graphene Nanoribbon
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Effect of Nano-ZnO on Properties of Anti-Fouling Coatings Based on FEVE Coploymer
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Preparation, Morphology and Dielectric Properties of Polyamide-6/Poly(Vinylidene Fluoride) Blends
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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 496Study on Mechanics Structural Synthesis of...

Study on Mechanics Structural Synthesis of Six-Legged Walking Robot with Parallel Leg Mechanisms

Abstract:

In order to use the parallel leg mechanisms in the six-legged robot, a six-legged walking robot with parallel leg mechanisms was presented. A six-legged walking robot type synthesis method based on screw theory was proposed. By this method, the paper carried on the structural synthesis of whole robot and the parallel leg mechanisms. 2-UPS&UP mechanism was chosen as the leg mechanism of the six-legged walking robot. 2-UPS&UP mechanism had been proven not to be an instantaneous mechanism by the displacement manifold theory. The specific structure of the six-legged walking robot based on2-UPS&UP mechanism was designed. These studies laid the theoretical foundation for further study of the six-legged walking robot. This type synthesis method could be used for the design of other multi-legged walking robot.