两足并联腿机构工作空间分析

采用并联机构3-UrPS 作为两足步行器的腿部机构，3-UrPS 中3 个Ur 采用等腰对称布置， 建立了两足步行器的三维CAD 模型及其虚拟样机，分析了3-UrPS 并联机器人的反解，并根据反解研究该机构的定姿态工作空间. 基于三维空间搜索的方法在MATLAB 中得到了工作空间的三维形状，展示了工作空间的大小. 结果表明该机构可用于作为步行器的腿部机构，为控制研究奠定基础.
A parallel mechanism 3-UrPS is used to be the leg mechanism of a biped robot. The parallel mechanism Ur is assigned with isosceles triangle in the modeling of 3-UrPS. The model of the biped robot is built in the research. The inverse kinematis of the parallel mechanism is analysed based on the invese positon solution, and the work space of fixed pose is researched. Then, the 3D shape is obtained in the Matlab used the three-dimensional optimization algorithm. The dimension and the shape are shown in the figures. The research in this paper is the basis of the control system of the biped robot.