Design and Statics-Velocity Performance Analysis of 2-(U+UPS)PU+UPU Translational Robotic Legs
With the objectives of low control complexity,no concomitant rotating features at the endpoint,and fewer degrees of freedom,the 2-(U+UPS)PU+UPU 3 DOF serial-parallel transla-tional robotic leg was proposed.The leg mechanism's mobility was analyzed and the kinematics model of the leg mechanisms was established based on the screw theory.The workspace and the posture properties of the endpoints were obtained through simulation.The velocity Jacobian matrix and the force Jacobian matrix were deduced,and the change rule of velocity and statics properties was ana-lyzed and obtained.A prototype sample of the proposed leg mechanisms was developed,the feasibility was verified.
万方数据
维普
