A rolling 3-UPU parallel mechanism

Zhang, Miao; Yao, Yi; Kong, Xianwen

doi:10.1007/s11465-013-0282-6

Cited by 9 publications

(8 citation statements)

References 14 publications

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“…The novelty of the work lies in the introducing of the 3-UPU parallel mechanism in the walking robot. While parallel mechanisms were mostly used as legs in most works [17][18][19][20][21], in this work, we innovatively use the parallel mechanism as both an actuator to generate walking and also a connecting body to connect two groups of three legs. The new walking robot is thus able to walk with simple gait using very few motors.…”

Section: Discussionmentioning

confidence: 99%

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Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Meng

Bai

et al. 2018

Robotics

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The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

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Section: Discussionmentioning

confidence: 99%

“…There are some reports about applications of parallel mechanism in mobile robots. A rolling biped robot was proposed based on a 3-UPU parallel mechanism [17]. Gait and stability analyses were presented and four rolling modes of the mechanism were discussed and simulated.…”

Section: Introductionmentioning

confidence: 99%

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Meng

Bai

et al. 2018

Robotics

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show abstract

“…While parallel mechanisms were mostly used as legs in most works [17][18][19][20][21], in this work, we innovatively use the parallel mechanism as both an actuator to generate walking and also a connecting body to connect two groups of three legs. The new walking robot is thus able to walk with simple gait using very few motors.…”

Section: Discussionmentioning

confidence: 99%

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Li¹,

Meng²,

Bai³

et al. 2018

Preprint

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Abstract:The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot's maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

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“…Eventually, in a translational 3-UPU, if, over the above-mentioned structural singularity, the structural translation singularity (see Section 3.2) that occurs when the platform and base triangles are equal is introduced, the resulting 3-UPU acquires two additional finite DOFs: one rotation and one translation. Such a geometry has been used in [33] to conceive a 5-DOF rolling mechanism able to move on the floor.…”

Section: Rotation Singularitiesmentioning

confidence: 99%

“…Eventually, structural singularities of 3-UPU architectures were used to ideate a Shoenflies motion generator [28] of 4-UPU type [29][30][31][32], and a rolling mechanism [33].…”

Section: Introductionmentioning

confidence: 99%

A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type

Gregorio

2020

Robotics

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Various 3-UPU architectures feature two rigid bodies connected to one another through three kinematic chains (limbs) of universal–prismatic–universal (UPU) type. They were first proposed in the last decade of the 20th century and have animated discussions among researchers for more-or-less two decades. Such discussions brought to light many features of lower-mobility parallel manipulators (PMs) that were unknown until then. The discussions also showed that such architectures may be sized into translational PMs, parallel wrists, or even reconfigurable (metamorphic) PMs. Even though commercial robots with these architectures have not yet been built, the interest in them remains. Consequently, a review of the literature on these architectures, highlighting their contribution to the progress of lower-mobility PM design, is still of interest for the scientific community. This paper aims at presenting a critical review of the results that have been obtained up until now.

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A rolling 3-UPU parallel mechanism

Cited by 9 publications

References 14 publications

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Stability and Gait Planning of 3-UPU Hexapod Walking Robot

A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type

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