For the high carrying capacity of the human-carrying walking chair robot, in this paper, 2-UPS+UP parallel mechanism is selected\nas the leg mechanism; then kinematics, work space, control, and experiment of the leg mechanism are researched in detail. Firstly,\ndesign of the whole mechanism is described and degrees of freedom of the leg mechanism are analyzed. Second, the forward\nposition, inverse position, and velocity of leg mechanism are studied. Third, based on the kinematics analysis and the structural\nconstraints, the reachable work space of 2-UPS+UP parallel mechanism is solved, and then the optimal motion work space is\nsearched in the reachable work space by choosing the condition number as the evaluation index. Fourth, according to the theory\nanalysis of the parallel leg mechanism, its control system is designed and the compound position control strategy is studied. Finally,\nin optimal motion work space, the compound position control strategy is verified by using circular track with the radius 100 mm; the\nexperiment results show that the leg mechanism moves smoothly and does not tremble obviously.Theory analysis and experiment\nresearch of the single leg mechanism provide a theoretical foundation for the control of the quadruped human-carrying walking\nchair robot.
Loading....