Kinematics Analysis Of 8-UPS Parallel Robot Walking Mode

International Journal of Research in Engineering and Science (IJRES)
ISSN (Online): 2320-9364, ISSN (Print): 2320-9356
www.ijres.org Volume 5 Issue 5 ǁ May. 2017 ǁ PP. 15-19
www.ijres.org 15 | Page
Kinematics Analysis Of 8-UPS Parallel Robot Walking Mode
Cao Yindong1
,Xu Yong2
School Of Mechanical Engineering, Shanghai University Of Engineering Science, Shanghai 201611, China；2.
School Of Mechanical Engineering, Shanghai
ABSTRACT: Achieving stable machining is a difficult problem in large workspace robot field, this paper
proposes a new 8-UPS parallel robot with 6 DOF as well as walking and machining ability. In machining mode,
it equals to a traditional parallel robot, in walking mode it is a 4 legs walking robot. It mainly from kinematics
and inverse solution, workspace, mobile platform trajectory planning, singularity analysis, performance analysis
to do kinematics analysis in machining mode; when the robot works in walking mode, the reseach mainly from
configuration design, gait planning and kinematics analysis aspects. The inverse kinematic model of 8-UPS
Parallel robot under machining mode was established, and the rod length function was obtained. Based on the
machining mode workspace, a robot design method was proposed, and the full performance indicator was used
to help design the main parameters of the robot. Based on MATLAB, Simulink model was established to
complete inverse kinematics simulation and get the rod length as well as drive speed variation of the 8-UPS
parallel robot. Based on SolidWorks, 8-UPS model was established, with using Motion part according to the
specified trajectory, kinematics simulation curve was obtained to help analyse the performance of the robot. At
the end, interference checking process was proposed to help to check the interface between hinge and rods.
Keywords: Large work space; Parallel Mechanism; Walk; Kinematics; Simulation
I. INTRODUCTION
The quadruped robot, the kinematics movement between the robot and the main body of each leg, and
provide a theoretical basis for the design of motion simulation and control system of the robot. The movement is
the credit of quadruped robot kinematics and inverse kinematics, including position analysis, velocity analysis
and acceleration analysis. Firstly, the parallel robot walking pattern under the configuration design and gait
planning, walking on the kinematic characteristics of robot robot mode, including the reconstruction stage
loading platform key pose solution and the robot walking mode and kinematics, the kinematic parameters in the
simulation mode of walking robot.
In this paper 8-UPS walking parallel robot walking mode processing configuration shown in figure 1,
the load line platform, a support base and connected load platform and the base drive components, including:
four of the linear drive branch between the support base and the loading platform is symmetrically distributed, a
UPS parallel mechanism based on Ontology of the walking robot; loading platform the mounted on the end
effector; the base is fixedly connected with a locking pin two or more, the robot foot end of the locking ring
with the locking pin, so that the robot can walk along the path of the locking pin. This paper proposes for the
industrial application of the robot walking robot concept processing. With high stiffness characteristics of
legged robot with high maneuverability and parallel mechanism, with six axis machining, stable operation and
walking ability, and,through the system configuration and the end effector of the weight In this paper, the robot
is expected to complete the task of cutting, loading and unloading, handling, and so on. The research work of
this paper is expected to provide a feasible mobile processing solution for the high efficiency of the work space
and the wide area distributed multi production line

1.Support pedestal 2.Locking pin 3.Locking ring 4.Vertical axis 5.Down vertical shaft 6.Down lateral axis 7.Ball
screw 8.Up lateral axis 9.Ball screw mother sets 10.Loading platform 11.End effector 12.Processing parts
Fig.1 Configuration of 8-UPS parallel robot walking mode
8-UPS walking parallel robot by processing, loading platform, linear support base and connected load
platform and the base drive components, characterized in that: four of the linear drive of symmetric branching
between the support base and the load on each platform, including two branch line drive with the same structure
of UPS driving branch, formed with 8 legs 8 motor, installed 8 legs on the upper branch of each UPS telescopic
driving through a transverse shaft, connecting cardan joint and load platform and vertical shaft, intermediate by
a mechanical telescopic driving mechanism consisting of the lower end of the mobile side, a vertical axis,
vertical axis. Under the horizontal axis and connected by side equivalent sphere locking ring and the support
base are connected, a UPS parallel mechanism of walking robot based on ontology.
1.Gait planning
Quadruped robot gait planning, refers to the component of motion trajectory planning of robot walking
process, such as when the foot leaves the ground, the entire foot swing phase in the air trajectory and when
landing. The joint space trajectory planning, planning function generated value is the amount of joint and
Cartesian space trajectory planning, function generation is the value of the robot end effector pose, they need by
solving the inverse kinematics equation can be transformed into the joint.
This walking processing robot parallel mechanism based on ontology has two basic modes, the
processing mode is actually a parallel or hybrid machine tool / manipulator, and walking pattern when a multi
legged robot. After the robot completes the processing task, it is necessary to move to a new position. Prior to
this, some passive joints must be locked in advance, and the position and attitude of the loading platform should
be adjusted accurately to ensure the stable transformation of the processing stage and the walking phase.
Fig.2 Whole gait cycle of 8-UPS parallel robot under walking mode
Fig.3 Different postures of a gait cycle of 8-UPS parallel robot

2.Kinematics analysis of 8-UPS parallel robot walking mode
Fig.4 Side chain symbols and relevant parameters
In order to give the reconstruction stage leg swing up to prepare, in this process, all robots still locked
in the leg support pin, before locking the corresponding joint loading platform should be adjusted to the specific
position to make the joint angle should be locked to lock the expected.
3.Walking mode simulation
The 3D model is built in SolidWorks, using the Motion module, the establishment and driving
constraint of each joint constraint, will foot trajectory curve and the interpolation points into the Motion
database, the movement diagram and establish corresponding interpolation points and endpoints of foot.
Fig.5 Motion interpolation state diagram
When the foot end from a pin point movement to the next pin point trajectory as shown in Figure 5, in
Motion state in each interpolation directly read the swing leg two bar changes compared to the initial state of the
angle, and then change the angle of interpolation curve fitting, can be obtained by rod angle curve. The change
curve as shown in figure 6.
Fig.6 The angle curves of swinging leg
0 50 100 150 200 250
-10
-5
0
5
10
15
20
25
30
35
40
位移 (mm)
θ1(rad)
0 50 100 150 200 250
-20
-10
0
10
20
30
40
位移 (mm)
θ2(rad)

The robot walking stage in the leg, the foot end is in a locking state, from the foot end point
interpolation inverse solution to parallel driving period, the inverse operation set on hinge for the uniform
motion, which hinges on the driving function theory should be a linear function of absolute value. As for the
simulation curve obtained by 6, it can get the approximate sine / cosine function. It is easy to see from the figure
that the interpolation points of the driving function are located on both sides of the line of an absolute value
function. At the same time, the simulation results show that the fitting curve of the foot end trajectory is
consistent with the definition of the drive motor.
Fig.7 The rods variation in one gait cycle
Fig.8 Moving platform reference point in WP direction under 8-UPS parallel robot walking mode
II. SUMMARY
This chapter of the walking mode of 8-UPS robot configuration design and gait planning, efficient
processing for multi station production line put forward the feasible scheme of mobile robot, and ensure the
stability of walking in the stage; mode of walking robot kinematics is analyzed, including the key to the robot
pose reconstruction stage of loading platform to solve the constraint condition of load on the platform pose,
walking mode robot joint angle and load platform for the kinematics parameters; simulation of the robot
walking mode, get two different support patterns and exercise space about walking leg member relative to the
initial state of curve, and the whole gait the dynamic stability of the platform were studied. The obtained motion
characteristic curve of different axis.
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