Mobile 4-mU parallel robot with multiple modes

摘要

This paper introduces a mobile 4-URU parallel robot with multiple modes. The robot consists of two platforms and four chains, each chain is a URU kinematic chain and each platform is 4R parallelogram mechanism. First, the structural design of the robot is described. The robot is designed based on the folding mechanism. Second, the singular positions of the robot and the DOF of the robot under different conditions are analyzed by the screw theory. Third, the system dynamics software is used to analyze the gait of each mode. With the folding of the staggered four link platforms, the robot achieves seven mobile modes and four fold modes. Finally, a prototype without electric motors is used to verify the feasibility of the multiple modes and the DOF.