Kinematics and Performance Analysis of a Novel Bipedal Mobile Robot

doi:10.12382/bgxb.2025.0199

Abstract

Abstract:

A novel bipedal mobile robot used in the dangerous and complex environments is proposed based on a 4-UPU+2-P parallel serial hybrid mechanism.Unlike traditional continuous gait patterns of bipedal robots,the proposed robot switches between dynamic and static platforms to achieve alternating movement and turning with just six actuators,following a “top platform+bottom foot” continuous gait.The degrees of freedom of the robot are analyzed using screw theory,the inverse kinematics is established using the closed-loop vector method,and the singularities and workspace of the robot are analyzed.The performance of the robot is analyzed using the motion/force transmission indices,and the performance distribution maps within the workspace are generated.By employing a particle swarm optimization algorithm and taking the global transmission index as the optimization objective,the key structural parameters are optimized to improve the motion/force transmission performance of the mechanism.To improve the stability of robot during motion,the simulation analysis of the robot in stair-climbing environments is performed based on the zero-moment method.The results indicate that the designed dual-platform bipedal mobile robot with a reasonable structure demonstrates a certain degree of 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

CLC Number:

TH112

SHI Zhaofeng, SONG Shengtao, NING Fengping, ZHANG Lei, DENG Lianzheng, GUO Wenxiao. Kinematics and Performance Analysis of a Novel Bipedal Mobile Robot[J]. Acta Armamentarii, 2025, 46(11): 250199-.

Figures/Tables 21

References 23

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足式移动机器人	驱动数量	特点
WL-16RIV^[4]	12	6自由度,双并联机构,出色的行走与负载能力,应用场景丰富
串并混联腿机构双足机器人^[5]	12	6自由度,双并联机构,运动灵活,工作范围大
MPLBR^[6]	6	3自由度,双并联机构,可实现多种运动模式
基于广义并联机构的仿人腿双足机器人^[7]	12	6自由度,双并联机构,所有驱动放置在定平台上,具有高刚度优点
四足/双足可重构并联腿移动机器人^[8-9]	24	6自由度,双并联机构,通过可重构,可满足多种场景需求
三平台双足机器人^[11]	12	6自由度,双并联机构,承载力强
三平台六足机器人^[12]	12	3自由度,双并联机构,稳定性高,适用于多种复杂地形
双平台双足移动机器人	6	4自由度,单串并混联机构,通过动/静平台的切换,实现机器人运动

足式移动机器人	驱动数量	特点
WL-16RIV^[4]	12	6自由度,双并联机构,出色的行走与负载能力,应用场景丰富
串并混联腿机构双足机器人^[5]	12	6自由度,双并联机构,运动灵活,工作范围大
MPLBR^[6]	6	3自由度,双并联机构,可实现多种运动模式
基于广义并联机构的仿人腿双足机器人^[7]	12	6自由度,双并联机构,所有驱动放置在定平台上,具有高刚度优点
四足/双足可重构并联腿移动机器人^[8-9]	24	6自由度,双并联机构,通过可重构,可满足多种场景需求
三平台双足机器人^[11]	12	6自由度,双并联机构,承载力强
三平台六足机器人^[12]	12	3自由度,双并联机构,稳定性高,适用于多种复杂地形
双平台双足移动机器人	6	4自由度,单串并混联机构,通过动/静平台的切换,实现机器人运动

驱动的输入关节	锁定的输入关节	平台Ⅱ-P链Ⅰ-足Ⅰ的约束力螺旋系
UPU支链Ⅰ	UPU支链 Ⅱ、Ⅲ、Ⅳ	U¹= ${\left[\begin{array}{lllll}\${ }_{1}^{rT}& \${ }_{2}^{rT}& \${ }_{T2}^{rT}& \${ }_{T3}^{rT}& \${ }_{T4}^{rT}\end{array}\right]}^{T}$
UPU支链Ⅱ	UPU支链 Ⅰ、Ⅲ、Ⅳ	U²=[ $\begin{array}{lllll}\${ }_{1}^{rT}& \${ }_{2}^{rT}& \${ }_{T1}^{rT}& \${ }_{T3}^{rT}& \${ }_{T4}^{rT}\end{array}$]^T
UPU支链Ⅲ	UPU支链 Ⅰ、Ⅱ、Ⅳ	U³=[ $\begin{array}{lllll}\${ }_{1}^{rT}& \${ }_{2}^{rT}& \${ }_{T1}^{rT}& \${ }_{T2}^{rT}& \${ }_{T4}^{rT}\end{array}$]^T
UPU支链Ⅳ	UPU支链 Ⅰ、Ⅱ、Ⅲ	U⁴=[ $\begin{array}{lllll}\${ }_{1}^{rT}& \${ }_{2}^{rT}& \${ }_{T1}^{rT}& \${ }_{T2}^{rT}& \${ }_{T3}^{rT}\end{array}$]^T

驱动的输入关节	锁定的输入关节	平台Ⅱ-P链Ⅰ-足Ⅰ的约束力螺旋系
UPU支链Ⅰ	UPU支链 Ⅱ、Ⅲ、Ⅳ	U¹= ${\left[\begin{array}{lllll}\${ }_{1}^{rT}& \${ }_{2}^{rT}& \${ }_{T2}^{rT}& \${ }_{T3}^{rT}& \${ }_{T4}^{rT}\end{array}\right]}^{T}$
UPU支链Ⅱ	UPU支链 Ⅰ、Ⅲ、Ⅳ	U²=[ $\begin{array}{lllll}\${ }_{1}^{rT}& \${ }_{2}^{rT}& \${ }_{T1}^{rT}& \${ }_{T3}^{rT}& \${ }_{T4}^{rT}\end{array}$]^T
UPU支链Ⅲ	UPU支链 Ⅰ、Ⅱ、Ⅳ	U³=[ $\begin{array}{lllll}\${ }_{1}^{rT}& \${ }_{2}^{rT}& \${ }_{T1}^{rT}& \${ }_{T2}^{rT}& \${ }_{T4}^{rT}\end{array}$]^T
UPU支链Ⅳ	UPU支链 Ⅰ、Ⅱ、Ⅲ	U⁴=[ $\begin{array}{lllll}\${ }_{1}^{rT}& \${ }_{2}^{rT}& \${ }_{T1}^{rT}& \${ }_{T2}^{rT}& \${ }_{T3}^{rT}\end{array}$]^T

设计变量	初值/mm	优化范围/mm
a	100	[80,150]
b	45	[30,60]
c	28	[20,40]
d	40	[30,50]