Foot Design for a Large Walking Delta Robot

Abstract

Abstract.A large Delta robot has been modified to pick up and place a triangular shaped foot. The robot pushes the foot down to lift the body and the three associated fixed support legs. It then moves the foot sideways so that the body moves in the opposite direction to a new position where the fixed legs are lowered to the ground and the foot lifted ready for a new placement. In this way the robot is able to move in any direction with a tripod gait. The use of a combined foot and gripper for moving heavy objects is investigated. In the implementation reported, the gearboxes used are found to limit the operation and spring assistance is investigated as a trade off with payload. The small prototype, stands as tall as a person, weighs a third of a ton, and has a payload capability of near 100%. It is envisaged as a prototype for a much larger walking robot capable of general-purpose heavy lifting.

On the Design of Mobile Parallel Robots for Large Workspace Applications

“…Generated by the supporting limbs, the DOFs of the body can be used to position the swinging limb. Instead of actuating each limb independently, sharing actuators for positioning each limb will help to reduce the total number of actuators [10,11].…”

A new concept of self-reconfigurable mobile machining centers

“…Generated by the supporting limbs, the DOFs of the body can be used to position the swinging limb. Instead of actuating each limb independently, sharing actuators for positioning limbs will help to reduce the total number of actuators [4], [5]. b) Using the Same Actuators for Locomotion and for Manipulation: For conventional mobile robots, the locomotion actuation and the manipulation actuation are usually provided by two independent systems.…”

Type Synthesis of Multimode Mobile Mechanism Based on Screw Theory

“…In these applications, mobile mechanisms become stable, simple, efficient, and easy to control mobile platform. In recent years,the parallel mechanism have been used to construct the mobile mechanism.Dunlop [3] used the Delta mechanism to construct a biped mechanism.Sugahara et al [4]developed a WL-16R biped walking robot which has two 6-DOF parallel mechanism legs.Zhang et al [5],propsed a walking robot based on a 3-RPC parallel mechanism.Meanwhile more and more researchers were attracted by several classes of reconfigurable mechanism that can realize mutiple modes [6][7][8][9][10][11][12]. However, The theoretical derivation of the configuration of the mechanism is not given.…”