Performance analysis of a quadruped/biped reconfigurable walking robot with parallel leg mechanism

Abstract

Combining the modularization and reconfigurable ideas, a quadruped/biped reconfigurable walking robot with parallel leg mechanism is presented. According to design requirements, structural parameters of quadruped/biped walking robot are determined and numeric area of them and the relationship between them are analyzed. The requirements of walking velocity and bearing capacity of quadruped/biped walking robot are taken as measurable indexes to analyze the dexterousness, global minimum velocity index and bearing capacity index, and obtain the optimum numeric area of every parameter, which lay the theoretical foundation for manufacturing of prototype. © Springer-Verlag 2012.