Kinematical Model and Topology Patterns of a New 6-Parallel-Legged Walking Robot

摘要

In this paper, a new kind of 6-legged robot is presented. It was designed for drilling holes on the aircraft surface. Each leg of the robot is a 3-DOF parallel mechanism and the actuation can be controlled both by position and force. The mechanism design method of the robot is discussed. The relationship between control method and motion topology under different working conditions is studied. The kinematical model is built, based on which the motion plan are made. The control method is position-force control, so the calculation of actuation force is done. Finally, the simulation result is showed: the robot can drill on the fuselage surface successfully and the position-force control method can improve its performance a lot.