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Design and Development of Automatically
Design and Development of Automatically
Reconfigurable Parallel Walking Robot with Manipulators
Reconfigurable Parallel Walking Robot with Manipulators
This project abandons the notion that the structure of the walking robot is mostly based on the serial structure, presents the idea that the robot with parallel structure can get a even better performance while realizing the walking function, and proposes that this kind of robot can be reconfigured to a stable walking platform with multiple manipulators by decreasing the original robot's freedom. Using 6-URS parallel structure as the basic structure of the walking robot, serial structure as the basis for a reconfigurable robot, this project completes the calculation of the motor torque, speed, and then selects the appropriate motor type, and finishes the simulation work.
- Designed the Parallel and Reconfigurable Robot Device including mechanical, gait locomotion design; 6 degrees of freedom Parallel Robot and 5 degrees of freedom Serial Robot;
- Simulated the performances including kinematics and dynamics with ADAMS.
Simulation Animation
Simulation Animation
1. We need to lock one freedom of rotation joint in non-reconfigurable branch;
2. We then detach the sphere joint and free the reconfigurable branch;
3. Adjust the position of manipulator to grab the mineral;
4. Put the mineral into the body and adjust the position of manipulator into the sphere joint.
Mechanical Design
Mechanical Design
Walking Mode
Grabbing Mode
Reconfigurable Robot Arm Design
Integrate Assembling Robot Design
Electrical Design
Electrical Design
Reducer Selection*
Motor Selection**
*The type comes from the sample of SHF Harmonic Drive, Japan
**The type comes from the sample of Yasukawa Servo Motor, Japan
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