Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Study on Optimal Design and Walking gait of Parallel Typed Walking Robot

병렬기구 보행로봇의 최적설계와 걸음새에 관한 연구

  • Published : 2009.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a parallel typed walking robot which can walk in omni-direction and climb from a floor to a wall. We design a six D.O.F leg mechanism composed of three legs, which form a parallel mechanism with a base and a ground to generate arbitrary poses. Optimal design is conducted to maximize the walking space and the dexterity, which are normalized by the stroke of leg. Kinematic parameters are found to maximize the weighted optimal objectives. We design a triple parallel mechanism robot by inserting Stewart platform between the upper leg mechanism and the lower leg mechanism and examine the gaits when the robot walks on the ground and climbs from a floor to a wall. The analysis of walking space and dexterity for each gait shows that the triple parallel walking robot has a large walking space with a large stability region. We explore the possibility that the robot can climb from a floor to a wall. Investigating the gaits for the six steps proves that the robot can lift the foot up to the wall by combining the orientational walking space generated by three parallel mechanisms.

Keywords

References

  1. Hirai, K., Hirose, M., Haikawa, Y. and Takenaka, T., "The development of honda humanoid robot," Proc. IEEE Int. Conf. Robotics and Automation, Vol. 2, pp. 1321-1326, 1998
  2. Zheng, Y. F. and Shen, J., "Gait synthesis for the SD-2 biped robot to climb sloping surface," IEEE Trans. Robotics Automation, Vol. 6, No. 1, pp. 86-96, 1990 https://doi.org/10.1109/70.88120
  3. Abderrahim, M., Balaguer, C., Gimenez, A., Pastor, J. M. and Padron, V. M., "Roma. A climbing robot for inspection operation," Proc. IEEE Int. Conf. Robotics and Automation, Vol. 3, pp. 2303-2308, 1999
  4. Ryu, S. W., Park, J. J., Ryew, S. M. and Choi, H. R., "Self contained wall-climbing robot with closed link mechanism," Proc. Int. Conf. Intelligent Robots Systems, Vol. 2, pp. 839-843, 1996
  5. Saltaren, R., Aracil, R., Reinoso, O. and Scarano, M. A., "Climbing Parallel Robot: A Computational and Experimental Study of its Performance Around Structural Nodes," IEEE Trans. on Robotics, Vol. 21, No. 6, pp. 1056-1066, 2005 https://doi.org/10.1109/TRO.2005.855991
  6. Reg Dunlop, G., "Foot Design for a Large Walking Delta Robot," Experimental Robotics VIII, Vol. 5, pp. 602-611, 2003 https://doi.org/10.1007/3-540-36268-1_55
  7. Ota, Y., Yoneda, K., Ito, F., Hirose, S. and Inagaki, Y., "Design and Control of 6-DOF Mechanism for Twin-Frame Mobile Robot," Autonomous Robots, Vol. 10, No. 3, pp. 297-316, 2001 https://doi.org/10.1023/A:1011287810340
  8. Fox, R. L. and Gupta, K. C., "Optimization technology as applied to mechanism design," J. Eng. Industry, Vol. 95, No. 2, pp. 657-663, 1973 https://doi.org/10.1115/1.3438206
  9. Lee, M. K., Choi, B. O., Lee, S. H. and Park, K. W., "Workspace Analysis of a Double Parallel Manipulator," Trans. of the KSME(A), Vol. 22, No. 12, pp. 2247-2255, 1998
  10. Stoughton, R. S. and Arai, T., "A Modified Stewart Platform Manipulator with Improved Dexterity," IEEE Trans. on Robotics and Automation, Vol. 9, No. 2, pp. 166-173, 1993 https://doi.org/10.1109/70.238280
  11. Huang, Q., Yokoi, K., Kajita, S., Kaneko, K., Arai, H., Koyachi, N. and Tanie, K., "Planning Walking Patterns for a Biped Robot," IEEE Trans. on Robotics and Automation, Vol. 17, No. 3, pp. 280-289, 2001 https://doi.org/10.1109/70.938385