A biped robot with 3T manipulation ability

Liu, Chao; Yao, Yan‐an

doi:10.1108/01439911311320886

Cited by 4 publications

(1 citation statement)

References 56 publications

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“…In addition, in our previous works, by using parallel mechanisms, we proposed several walking robots (Liu and Yao, 2009;Liu et al, 2012a). Liu and Yao (2013) designed a spatial six-link RRCCRR to be used as a mobile manipulator robot platform realizing 3T motion in the industry. Miao et al (2014) designed a 2-UPU ϩ 2-UU parallel mechanism to be used as a biped walking robot which improves the load carrying capability.…”

Section: Introductionmentioning

confidence: 99%

An agile assistant robot integrating operation and rolling locomotion

Yao

Cheng

et al. 2017

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Purpose The purpose of this paper is to propose an agile assistant robot to be used as a mobile partner with two rotational motions and one translational motion. This robot possesses the rolling function and three operating abilities to assistant human beings in the industrial environment. Design/methodology/approach The main body of the robot is a typical 4-RSR (where R denotes a revolute joint and S denotes a spherical joint) parallel mechanism. The mechanism can reach any position on the ground by two rolling modes (the equivalent Watt linkage rolling mode and the equivalent 6R linkage rolling mode), and the robot can work as a spotlight or a worktable in operating modes at the target location. The mobility, rolling modes, operating modes and kinematics are analyzed. Findings Based on the results of kinematics of this assistant robot, the upper platform of the 4-RSR rolling mechanism has two rotational motions and one translational motion which can be used in the industry. The proposed concept is verified by experiments on a physical prototype. Practical implications This paper also discusses the application to industrial cases where cooperation between workers and robots is required. Originality/value The work presented in this paper is a novel exploration to apply parallel mechanisms to the field of assistant rolling robots. It is also a new attempt to use the rolling mechanism in the field of mobile operating robots for industry tasks.

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Section: Introductionmentioning

confidence: 99%

An agile assistant robot integrating operation and rolling locomotion

Yao

Cheng

et al. 2017

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A spatial single loop kinematotropic mechanism used for biped/wheeled switchable robots

Wang

Fang

Zhang

2014

Int J Mech Mater Des

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Research on synthesis method of weakly coupled three-translation parallel mechanism with large bearing capacity

Li,

Wang,

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Aiming at the problem of poor bearing capacity in the direction of decoupled DOF of weakly coupled three-translation parallel mechanism, a class of new configurations of large load-bearing capacity weakly coupled three-translation parallel mechanisms with closed-loop unit has been proposed in this paper. Based on the screw theory, configuration evolution method, and graphical approach method, the synthesis method of these kinds of mechanisms has been proposed, and the decoupled criterion of this mechanism and the addition conditions of the kinematic pair diagram are given. The synthesis process has been developed to synthesize the single degree of freedom translational decoupled branch chain and 2T coupled branch chain. To better apply the weakly coupled mechanism to large load occasions, a closed-loop unit construction method has been proposed. Based on the theory of singular value decomposition, a theoretical formula for increasing the load-bearing capacity of a mechanism by constructing a closed-loop unit with redundant drives has been derived for the first time. The closed-loop unit is added to the 2T coupled branch chain and the single DOF decoupled branch chain to construct the large load-bearing capacity single DOF decoupled three-translation parallel mechanism. Kinematic analysis and static analysis have been carried out on the synthesized mechanism. The Jacobian matrix of the synthesized mechanism is a block diagonal matrix, and the bearing capacity is significantly stronger than that of the decoupled mechanism, even higher than that of the coupled parallel mechanism. The synthesized weak coupling three translation parallel mechanism with large load bearing characteristics has a good application prospect in the field of high precision and large load bearing.

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A biped robot with 3T manipulation ability

Cited by 4 publications

References 56 publications

An agile assistant robot integrating operation and rolling locomotion

An agile assistant robot integrating operation and rolling locomotion

A spatial single loop kinematotropic mechanism used for biped/wheeled switchable robots

Research on synthesis method of weakly coupled three-translation parallel mechanism with large bearing capacity

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