NDLI: Reconfiguration plan analysis of quadruped/biped walking robot with parallel leg mechanism

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Reconfiguration plan analysis of quadruped/biped walking robot with parallel leg mechanism

Content Provider	IEEE Xplore Digital Library
Author	Hongbo Wang Zhengyan Qi Guiling Xu Xing Hu
Copyright Year	2010
Description	Author affiliation: College of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China (Hongbo Wang; Zhengyan Qi; Guiling Xu; Xing Hu)
Abstract	Based on the concept of reconfigurable robot, the implementation of a quadruped/biped reconfigurable walking robot with parallel leg mechanism is analyzed. According to the different layout ways of upper platforms and the different combined approaches of the lower platforms, the various leg mechanisms with six branches can be obtained. Reconfiguration plan of a quadruped/biped reconfigurable walking robot is presented. Several combined approaches are compared. A 6-SPU mechanism with the better kinematics performances is selected as leg mechanism and its kinematics analyzed.
Starting Page	196
Ending Page	201
File Size	1595081
Page Count	6
File Format	PDF
ISBN	9781424471010
e-ISBN	9781424471010
DOI	10.1109/MESA.2010.5552069
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Reconfigurable robot Walking Robot Degrees of Freedom Proposals Construction industry Parallel Leg Mechanism
Content Type	Text
Resource Type	Article

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