Configuration analysis and structure parameter design of six-leg agricultural robot with parallel-leg mechanisms

To apply the six-legged robot in the field of agriculture, the parallel mechanism was used in the mechanical leg of the six-legged robot. The six-legged walking robot could be used for transportation, cultivation, harvesting of agricultural fields in the mountains, woodlands, hills. The configuration of the six-legged robot was analyzed, and the 2-UPS+UP parallel manipulator was selected as the initial configuration of the mechanical leg. The rotational decoupled optimization of 2-UPS+UP parallel manipulator was done with screw theory, a rotational decoupled UPR+UPS+UP parallel manipulator was proposed. Based on configuration analysis, kinematics position equations were formulated. Kinematics model of the parallel manipulator was discussed as a key. The inverse position analysis and velocity mapping equations were presented. The workspace of UPR+UPS+UP parallel manipulator was analyzed. Three- dimensional graphic of workspace was drawn. By analyzing the impact of the design parameters on the work space, a set of structural parameters with good performance were selected. These studies laid the theoretical foundation for further study of the six-legged agricultural robot.