Design and analysis of mobile robots for complex terrain environments
LIN Di
LI Ruiqin
HU Weiwei
NING Fengping
ZHANG Lei
Abstract：[Objective]Robots are widely used in many fields such as the production and the life because of their excellent intelligence and stability.However,the singularity of their structural form limits their ability to be applied in the complex and changing environments.To solve this problem,a novel 2-UPU/(UPUU)PU parallel mechanism was proposed and applied to the leg structure of a mobile robot to enhance the robot's adaptability in the complex terrain.[Methods]Firstly,the constraint-mo-tion relation in the screw theory was used to analyze the mechanism,determine the motion degrees of freedom of the mecha-nism,and specify the driving part;the vector method was used to construct the inverse solution equation of the parallel mecha-nism.After determining the structural dimensions of the mechanism,the inverse solution analysis was carried out using Adams software and verified by Matlab software to ensure the feasibility of the mechanism.In addition,based on the constraints of the physical rods,the workspace of the parallel mechanism was analyzed to clarify that its reachable workspace can meet the robot's movement requirements.Finally,an application example of the novel 2-UPU/(UPUU)PU parallel mechanism was constructed,and its movement mode was planned.[Results]The study shows that the parallel mechanism can be used as a foot-end structure of a mobile robot to realize the robot's movement in complex environments.
Keywords：Parallel mechanism2-UPU/(UPUU)PUScrew theoryPositional inverse solutionWorkspace
Publication Date：2025-11-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 80-87,120 )