The Research On Walking Spatial Linkage Based On R, C Pairs And Pure P Pairs

Walking robots are attached importance to by the roboticists all the time, because of their high mobile capabilities in unknown environments. However, most of the traditional walking robots are open chain mechansisms with weak stiffness and complex structures and control systems. These disadvantages restrict the development and application of walking robots.Closed-chain spatia linkages have several advanced charactrestics in the movement, such as high stiffness, small degree of freedom and high flexible motion. As this reason, the object of research is flexible closed-chain mobile mechanism in this paper. The method of creating novel walking mechanisms is presented based on the researches of robotics and closed-chain spatial mechanisms. According to this method, a series of closed-chain waking mechanisms are proposed, which could realize special movement on the ground.Firstly, three novel types of biped spatial RCCR mechanisms are proposed based on the study of the spatial RCCR linkage. Especially the mobile princinple and charactrestics are analyzed in order to improve the mobile capability. According to the analyzation, a spatial five-bar 3R2C biped mechanism and three types of spatial six-bar 4R2C biped mechanisms are proposed.Secondly, a series of closed-chain biped mechanisms are proposed, which are composed of pure prismatic joints. The mobile charactrestics and their encoded control menthod are discussed to simplify the contol systerm.These new types of walking mechanisms contain:(1) two types of spatial four-bar 4P walking mechanisms; (2) three types of spatial six-bar walking mechanisms; (3) a spatial eight-link 12P walking mechanism.Thirdly, kinematic simulations of the mechanism mentioned above are completed by computer and their mobile principles and gais are verified. According to ZMP methods, the stability of two types of biped spatial RCCR mechanisms, the spatial five-bar 3R2C and one types of spatial four-bar 4P walking mechanisms analyzed.Finally, three prototypes of walking mechanisms are manufactured and their feasibleness of the concepts is proved. The researches of walking robots are extended by the study in this paper, which also provide a good foundation for the application. Because of the effective synthesis theory and various structures, special spatial linkage can be easily obtained. According to the method of creating more flexible spatial walking mechanisms, it has great significance and valuable to do furthrr research.