关键词: 双平台双足移动机器人, 速度雅可比矩阵, 工作空间, 运动/力传递, 稳定性

Abstract: A novel bipedal mobile robot is proposed for dangerous and complex environments, based on a 4-UPU+2-P parallel serial hybrid mechanism. Unlike traditional continuous gait patterns for bipedal robots, this robot switches between dynamic and static platforms, achieving alternating movement and turning with just six actuators, following a “top + bottom” double continuous gait. The robot's degrees of freedom are analyzed using screw theory, and a kinematic model is established with the closed-loop vector method, followed by an analysis of its singularities and workspace. Performance analysis of the robot is conducted using motion/force transmission indices, and performance distribution maps within the workspace are generated. By employing a particle swarm optimization algorithm, the global transmission index is set as the optimization objective, leading to the optimization of key structural parameters and improving the motion/force transmission performance of the mechanism. To address stability issues during the robot's motion, simulation analysis in stair-climbing environments is performed based on the zero-moment method. The results indicate that the designed dual-platform bipedal mobile robot has a reasonable structure, demonstrating certain stability in stair terrains, and possesses potential applications in complex and hazardous environments such as battlefield reconnaissance and post-disaster rescue.

Key words: dual-platform bipedal mobile robot, velocity Jacobian matrix, workspace, motion/force transmission, stability