Journal
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
Volume 40, Issue 4, Pages 382-401Publisher
EMERALD GROUP PUBLISHING LTD
DOI: 10.1108/01439911311320886
Keywords
Robotics; Industrial robot; Control technology; Spatial six-link mechanism; Biped robot; 3T lifter
Categories
Funding
- National Natural Science Foundation of China [51175030]
- Fundamental Research Funds for the Central Universities [2011JBM277, 2012JBZ002]
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Purpose - The purpose of this paper is to propose a spatial six-link RRCCRR (where R denotes a revolute joint, and C denotes a cylindric joint) mechanism to be used as the mechanism body of a biped robot with three translations (3T) manipulation ability. Design/methodology/approach - This biped RRCCRR mechanism can reach any position on the ground by a crawling mode or alternatively, a somersaulting mode. After the robot reaches a designated position, it can work in manipulation mode. Mobility, walking mode, kinematic and stability analyses are performed, respectively. Findings - Based on this biped RRCCRR mechanism, a biped 31 lifter which can be used in industry is designed and analyzed. Finally, the proposed concept is verified by experiments on a prototype. Originality/value - The work presented in this paper is one of new explorations to apply traditional spatial linkage mechanisms to the field of biped robots, and is also a new attempt to use the biped robot, that is generally used in the field of bionic robots, as a mobile manipulator robot platform in industry.
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