一种行走操作一体化的六足步行机器人_潘阳.pdf

ROB-12 18 1 200240 E-mail: py0330@ 3DOF TH132 A A New Six-Parallel-Legged Walking Robot PAN Yan GAOFeng (School of Mechanical and Engineering, Shanghai Jiao Tong University, Shanghai 200240) Abstract: In this paper, a new kind of 6-legged robot is presented. The robot can walk in several different kinds of complicated environments; also, it can work under many hard conditions. Thus, this robot can be applied in many places, for instance, it can drill holes on the surface of the fuselage or be used as rescue robot in nuclear power plants. The leg mechanism of robot in this paper is a specific 3 DOF parallel mechanism. Compared with the serial mechanism, it can improve the bearing load ability significantly. The kinematical model of the robot is built in the paper, including direct and inverse kinematical problems. Based on kinematical model, the motion plan could be given. In this paper, the motion plan includes two parts: the walking plan and the manipulating plan. After motion plan, the simulation result is showed. Finally, the experiment of the prototype is presented. The robot turns out to be very successful that it can walk and turn a valve. Key words: Walking robot; 6-legged-robot; parallel mechanism; kinematical model; motion plan 0* 60 stewart ROB-12 1 1.1 18 2 1 1.2 ? ? ? ? 2 2 2.1 ,, ROB-12 18 2.2 ? ? ? Sf Sf ,, [x, y, z] [Sfx, Sfy,Sfz] ? A1 ? 1 1 1 1 ? 1 1 1 0 1 A? 1 0? 11 1 asin asin x=0 y=0 0 cos ? asin asin 3 ? U2 ? U3 ? S2 ? S3 [U2x,U2y,U2z] [U3x,U3y,U3z] [S2x,S2y,S2z] [S3x,S3y,S3z] ROB-12 ? 18 ,, ? 1 1 ? 1 1 3 4 3 ROB-12 18 5 4 4 5 6 [1].Sarh, B., et al., Aircraft Manufacturing and Assembly. Springer Handbook of Automation, 2009: p. 893-910. [2]. Atkinson, J., et al. Robotic drilling system for 737 aileron. 2007. [3].Devlieg, R. and T. Szallay, Applied Accurate Robotic Drilling for Aircraft Fuselage.SAE International Journal of Aerospace, 2010, 3(1): 180-186. [4] Pan Yang. A New Hexapod Drilling Robot.2nd IFToMM International Symposium on Robotics a