A biped robot with 3T manipulation ability

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.