Workspace Analyzing for Hybrid Serial-Parallel Mechanism of a New Bionic Quadruped Robot

摘要

In this paper, a new bionic quadruped robot was proposed by us. The mechanism of robot we analyzed is as a hybrid series-parallel mechanism, so a new methods for constructing the kinematic model of the bionic quadruped robot very quickly and efficiently was introduced. we analyzed the workspace of the legged mechanism by using geometric composition method and numerical analysis method in the following section. Furthermore, the kinematic model of the parallel mechanism of the multi-motion mode bionic quadruped robot was constructed when the robot was in the stance phase, we also construct and solve the inverse kinematic model of the parallel mechanism of the robot, and the simulation results provide a better method for the robot’s workspace analyzing;Finally, the simulation experiment showed that the method we presented above could provide a good support for the multi-motion mode bionic quadruped robot walking smoothly and automatically.