The Modular Parallel Mechanism of Single-Driven Multi-Legged Robots

Abstract

This paper designs a modular parallel mechanism for single-driven multi-legged robots. The mechanism achieves the goal to coordinate the lifting and swinging of all the legs with only one actuator and has good motion characteristics. The mechanism is not only easy to control, but also capable to optimize the trajectory of the robot legs by changing the structure size of the mechanism. This paper implements the trajectory simulation and dynamic simulation of the key points of the mechanism on the basis of the kinematics model, and the results show that the mechanism has a good trajectory and motion characteristics. The modular parallel mechanism is also applicable to those multi-legged robots such as quadruped robots and eight-legged robots, indicating that it has a good scalability.