Kinematic Analysis and Dimensional Synthes of a Parallel Leg Mechanism with Hybrid Chains
As the power source is scattered and inconvenient to protect when the walking robot works in the nuclear environment,a 4-DOF parallel leg mechanism with Hybrid Chains and centralized power source was proposed,which can be used to construct a walking robot.The number and properties of degrees of freedom and the mechanism characteristics were analyzed by screw theory.The inverse kinematic model was established,then the velocity Jacobian matrices of driving space and joint space were derived re-spectively.Based on two condition numbers of the Jacobian matrices,a mixed condition number with weight was proposed,which can be applied to evaluate the force transmission and motion transmission performance of the mechanism comprehensively.Taking the minimum mixed condition number as the dimensional synthesis target,the value ranges of structural parameters were obtained by monotonicity analysis,and then a set of optimal structural parameters was obtained by particle swarm optimization algorithm,which can provide references for prototype machining and dimensional synthes of other parallel mechanism with hybrid chains.The power sources are placed in the back of the novel leg mechanism uniformly,which is convenient for centralized protection.The driving space has the function of power transformation and semi-decoupled characteristic,which is convenient for the control of pose.It has a good application prospect in harsh environments such as nuclear radiation and high temperature.
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