Kinematics Analysis and Motion Simulation of a Quadruped Walking Robot with Parallel Leg Mechanism

@inproceedings{Wang2010KinematicsAA,
  title={Kinematics Analysis and Motion Simulation of a Quadruped Walking Robot with Parallel Leg Mechanism},
  author={Hongbo Wang and Zhengyan Qi and Guiling Xu and Fengfeng Xi and Guoqing Hu and Zhen Huang},
  year={2010}
}
Compared with the serial mechanism, the parallel mechanism has many advantages. Using the parallel mechanism as the basic leg mechanism of a walking robot, not only the payload-weight ratio can be improved, but also the robot walking stability and security performance can be enhanced. By combining the kinematics features of 3-UPU parallel mechanism with the… CONTINUE READING