Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Jianye Niu; Hongbo Wang; Zhiwen Jiang; Li Chen; Jianjun Zhang; Yongfei Feng; Shijie Guo

doi:10.1109/ACCESS.2020.3001653

IEEE Access (Jan 2020)

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Jianye Niu,
Hongbo Wang,
Zhiwen Jiang,
Li Chen,
Jianjun Zhang,
Yongfei Feng,
Shijie Guo

Affiliations

Jianye Niu: ORCiD; State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin, China
Hongbo Wang: ORCiD; Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, China
Zhiwen Jiang: State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin, China
Li Chen: State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin, China
Jianjun Zhang: State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin, China
Yongfei Feng: Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo, China
Shijie Guo: ORCiD; State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin, China

DOI: https://doi.org/10.1109/ACCESS.2020.3001653
Journal volume & issue: Vol. 8
pp. 111931 – 111944

Abstract

Read online

A three-DOF (degree-of-freedom) serial-parallel hybrid mechanism is proposed that consists of a 2-UPS+U component (UPS: universal-/prismatic-/spherical-joint chain and U: universal joint) and an R+RPS component (R: revolute joint and RPS: revolute-/prismatic-/spherical-joint chain). This mechanism can provide high precision and a large workspace, which indicates its applicability to wheel-legged robots. To verify our proposal, a mobility analysis showed that the mechanism simultaneously achieved three rotational movements. Then, the inverse/forward position analysis, velocity analysis, acceleration analysis, and stiffness analysis were carried out. Finally, a prototype of the mechanism was fabricated and its position error was found to be <; 1.8% despite the large workspace. These results demonstrate the effectiveness of our proposal and provide a new approach for designing new mechanisms for wheel-legged robots.

Published in IEEE Access

ISSN: 2169-3536 (Online)
Publisher: IEEE
Country of publisher: United States
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering
Website: https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

About the journal

Abstract

Keywords