Three-degree-of-freedom Parallel Leg Design Based On The Environment Of Reinforced Mesh

In order to allow the rebar binding robot to walk in the environment of reinforced mesh, a new three-degree-of-freedom spherical parallel mechanical leg was designed for it. The maximum height that can be lifted by the end of the mechanical leg is 220mm, and the rebar 200mm above the ground can be crossed with a step of up to 120mm. The end of the mechanical leg is equipped with a stilt with a height of 230mm, and the stilt will remain perpendicular to the ground during walking, so the quadruped robot equipped with the mechanical leg can stand and walk in a reinforced mesh with a rebar spacing of 100mm and a distance of 200mm from the ground. The mechanical leg adopts a parallel structure, which has higher rigidity and greater load capacity. In this paper, the structure and working principle of the mechanical leg are introduced in detail, and then the kinematic analysis is carried out to deduce the kinematic correct solution of the mechanical leg, Finally, the trajectory of the foot end of the prototype was mapped and compared with the theoretical motion trajectory.