Performance Analysis of a Quadruped/Biped Reconfigurable Walking Robot with Parallel Leg Mechanism

Wang, Hongbo; Hu, Xing; Sang, Lingfeng; Xu, Zhiwu; Wang, Jianjun

doi:10.1007/978-1-4471-4141-9_53

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“…Robot motion control technology has become increasingly important in the national economy and national defense construction, such as the positioning control of robot hand in the production process, the surface machining, the machine CNC and three-dimensional measurement etc. Therefore, the motion control of 3-DOF hybrid robot mechanism will get more extensive application with the continuous development of robot technology [1][2][3] .…”

Section: Introductionmentioning

confidence: 99%

Research and Design of Control System for a 3-DOF Hybrid Robot

Shen

Jiang

et al. 2010

AMM

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This paper studied a novel 3-DOF hybrid robot, and invented a new hybrid structure which was composed of 2-DOF parallel structure and 1-DOF serial structure. The structure of this mechanism was simple, stiffness and positioning accuracy was high. The control system based on ARM micro-controller was a step motor open-loop control system, which features compact and low cost while the control accuracy can be guaranteed. In this paper, the body composition of the robot was described, and its inverse kinematics were derived and further simplified. Hardware and software of the motion control system was designed in detail and experimented through prototype.

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Section: Introductionmentioning

confidence: 99%