Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism

Wang, Hongbo; Sang, Lingfeng; Hu, Xing; Zhang, Dianfan; Yu, Hongnian

doi:10.3901/cjme.2013.05.881

Cited by 17 publications

(9 citation statements)

References 13 publications

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“…Folding mechanism is the key to realizing the safe and smooth switching between wheelchair and stretcher. Analyzing the movement characteristic of the wheelchair-stretcher assistive robot and researching the references [23][24][25][26][27], the corresponding mechanism is proposed, as shown in Figure 7. There is one rack, five motion components and seven revolute joints in the mechanism.…”

Section: Kinematics Analysis and Parameters Optimization Of The Foldimentioning

confidence: 99%

“…When the tester is 90 kg, the actual maximum current measured is 8. 26 A, so the maximum carrying capacity of the whole equipment is 90 kg. (3) At the later stage of the movement process, the motion curves fluctuate obviously, because the experimental personnel adjusted their posture, resulting in fluctuations in the force applied on the back.…”

Section: Experimental Research Of the Folding Mechanismmentioning

confidence: 99%

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Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

et al. 2019

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Featured Application: This novel robot could be applied in hospital, family and nursing home to help the elderly complete the basic daily activities and move patient autonomously.Abstract: Life care for disabled or semi-disabled elderly has become an increasingly common problem in society. In this paper, a novel wheelchair-stretcher assistive robot, which can meet the physiological needs of patients, is investigated and designed. The following tasks are conducted: (1) the mecanum wheel is adopted as the executive device of the walking mechanism, and its kinematics is analyzed in detail.(2) A five-link mechanism with single degree of freedom is proposed to realize the folding motion of the robot. Through the minimum conclusive area method, the optimal sizes of the armrests link and the side link are 507.9, and 332.5 mm, respectively. Based on the force analysis of the linkage mechanism, six torsion springs and RV (rotate vector) reduction motor are used as the driving device, which reduces the driving torque of the motor. (3) Based on the STM32 (STMicroelectronics 32-bits Microcontroller) chip, and combined with the theoretical analysis, the mechanical structure and the control system of the whole prototype are designed, and the feasibility of each module is verified by experimental research. The results confirm that the proposed robot has good performance, and that the control algorithm for the walking mechanism and the lifting mechanism are suitable.

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Section: Kinematics Analysis and Parameters Optimization Of The Foldimentioning

confidence: 99%

Section: Experimental Research Of the Folding Mechanismmentioning

confidence: 99%

Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

et al. 2019

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“…Active resistance motion (ARM) training, as a medium and high-intensity training mode, has proved to be beneficial to patients' health [6,7]. Therefore, a leg-stretching training device that can help patients achieve CPM rehabilitation training and ARM training is one of the main means of realizing quick recovery [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Design and Isokinetic Training Control Method of Leg Press Training Device

Wang

et al. 2019

Applied Sciences

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Lower-limb function in elderly people gradually degenerates with age, and poor rehabilitation conditions preventing the elderly from receiving scientific rehabilitation training result in the decline of social labor force and the increased economic burden of the elderly. Aiming at the characteristics of the single function and the complex structure of an existing telescopic leg trainer combined with the needs of the application group, a new type of leg-stretching training device with multiple training modes for lower extremity extension and flexion of the elderly is proposed. A new mechanical structure and electrical system is designed. At the same time, the anti-resistance training man–machine model is analyzed, aiming at the isokinetic resistance training mode, and a training controller strategy based on a fuzzy synovial algorithm is proposed. Finally, the feasibility of the designed controller strategy and the proposed leg training device are verified by prototype experiments, which will guide further research.

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“…A new possibility for integrating a parallel mechanism in the configuration of a quadruped robot for assisting the people with disabilities is presented in Wang et al (2013). The parallel leg mechanism has a modular configuration with 3 DOF formed by 3 serial parallel units.…”

Section: Introductionmentioning

confidence: 99%

Novel Solution for Leg Motion with 5-Link Belt Mechanism

E.Ch.¹,

Pop²,

Pop³

et al. 2014

International Journal of Applied Mechanics and Engineering

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From the analysis of Theo Jansen walking mechanism and of the path curve that it describes the reduced capability for crossing over obstacles of the Jansen leg (1 DOF) is pointed out. By using a 5 link belt mechanism with 2 DOF can be adapted for generating similar Jansen mechanism path curve, where the step height of this path can be increased. For this purpose a mathematical model is conceived in order to analyse and determine the parameters for driving and control of the operation of the novel walking leg solution.

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Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism

Cited by 17 publications

References 13 publications

Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

Analysis, Design, and Experimental Research of a Novel Wheelchair-Stretcher Assistive Robot

Design and Isokinetic Training Control Method of Leg Press Training Device

Novel Solution for Leg Motion with 5-Link Belt Mechanism

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