Research on a six-legged walking robot with parallel mechanism

摘要

A new lightweight six-legged robot is developed which uses a simple mechanism and can move and work with high efficiency. This robot consists of two leg-bases with three legs each and walks by moving each leg-base alternately. These leg-bases are connected to each other through a 6-DOF mechanism. Thus, when the robot stands on three legs, or one leg-base is placed on the ground, the other leg-base can be used as a 6-DOF manipulator or active working platform. The output force, velocity, and movable range of various mechanisms for connecting the two leg-bases were compared and the results showed that good performance could be achieved with a serial-parallel hybrid mechanism consisting of three 6-DOF serial linked arms positioned with radial symmetry about the center of each leg-base, each composed of two active and four passive joints. Walking experiments with this robot confirm that this mechanism has satisfactory performance not only as a walking robot but also as an active walking platform.