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<p>A new 6-DOF hybrid mechanism 4-UCU/UPU+R has been designed as a leg for an inspection robot to remain nimble enough under heavy load. The hybrid mechanism consists of a parallel mechanism 4-UCU/UPU and a revolute joint R. The former controls the pose of the leg and the latter steers the wheel. Its degree of freedom is derived according to screw theory which is also the basis of the following dimensional synthesis to improve the kinematic performance of the leg. GTW and GTI were employed to evaluate the kinematic performance. A new index, RTI, was proposed to evaluate the transmission efficiency of certain mechanisms in a specified workspace that poses is trouble to GTI. The model was built with the optimum dimension evaluated by GTW, GTI and RTI, which exhibit good kinematic performance. A Stewart mechanism with the same dimension was applied to compare with the 4-UCU/UPU+R in terms of LTI and workspace. Comparative analysis shows that using the new mechanism as a leg could make the inspection robot have better kinematics and crossing-obstacle performance.</p>

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Design and analysis of a novel leg 4-UCU/UPU+R mechanism of inspection robot

  • 期刊论文

  • 发表日期：

    2025年11月8日

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  • Jinan Dong,
  • Ziming Chen,
  • Haihong Li

摘要

A new 6-DOF hybrid mechanism 4-UCU/UPU+R has been designed as a leg for an inspection robot to remain nimble enough under heavy load. The hybrid mechanism consists of a parallel mechanism 4-UCU/UPU and a revolute joint R. The former controls the pose of the leg and the latter steers the wheel. Its degree of freedom is derived according to screw theory which is also the basis of the following dimensional synthesis to improve the kinematic performance of the leg. GTW and GTI were employed to evaluate the kinematic performance. A new index, RTI, was proposed to evaluate the transmission efficiency of certain mechanisms in a specified workspace that poses is trouble to GTI. The model was built with the optimum dimension evaluated by GTW, GTI and RTI, which exhibit good kinematic performance. A Stewart mechanism with the same dimension was applied to compare with the 4-UCU/UPU+R in terms of LTI and workspace. Comparative analysis shows that using the new mechanism as a leg could make the inspection robot have better kinematics and crossing-obstacle performance.