A biped robot with 3T manipulation ability

Abstract

Purpose

The purpose of this paper is to propose a spatial six‐link RRCCRR (where R denotes a revolute joint, and C denotes a cylindric joint) mechanism to be used as the mechanism body of a biped robot with three translations (3T) manipulation ability.

Design/methodology/approach

This biped RRCCRR mechanism can reach any position on the ground by a crawling mode or alternatively, a somersaulting mode. After the robot reaches a designated position, it can work in manipulation mode. Mobility, walking mode, kinematic and stability analyses are performed, respectively.

Findings

Based on this biped RRCCRR mechanism, a biped 3T lifter which can be used in industry is designed and analyzed. Finally, the proposed concept is verified by experiments on a prototype.

Originality/value

The work presented in this paper is one of new explorations to apply traditional spatial linkage mechanisms to the field of biped robots, and is also a new attempt to use the biped robot, that is generally used in the field of bionic robots, as a mobile manipulator robot platform in industry.

Citation

Liu, C. and Yao, Y. (2013), "A biped robot with 3T manipulation ability", Industrial Robot, Vol. 40 No. 4, pp. 382-401. https://doi.org/10.1108/01439911311320886