Kinematics modeling and simulation of quadruped/biped walking robot with parallel leg mechanism for the elderly and the disabled

摘要

Combined the advantage of the robot with parallel leg mechanism and reconfigurable robot,a novel reconfigurable quadruped/biped walking robot with parallel leg mechanism is proposed in this paper.The configuration design of the robot is conducted.Taking the quadruped walking robot as object of study,according to the structure features of the quadruped walking robot and the movement characteristics of the basic parallel leg mechanism,the kinematics of the quadruped walking robot can be transformed into the kinematics of one parallel mechanism,thus kinematics models of the quadruped walking robot with parallel leg mechanism during walking are established.The simulation of the quadruped walking robot in crawling gait is analyzed and a numerical example and simulation results are provided.This research sets a theoretical basis for future investigation on the quadruped walking robot with parallel leg mechanism.