Kinematics Analysis of Anti-Terrorism Robot with Rigid-Flexible Parallel Closed Loop Linkage Mechanism

Abstract

The flexible linkage and parallel mechanism is gradually introduced to the structural design of various types of the robots. For anti-terrorism robot, this article put forward a kind of rigid-flexible hybrid parallel close looped linkage mechanism. Firstly, the plane rigid-flexible hybrid close looped system model is established. On this basis, dynamic model is established by using Lagrange and assumed mode methods. Finally, the model which has been developed was simulated, and it was compared and analyzed with the rigid system. The results show that the rules of the energy variation of the new model are similar to general rigid system. Therefore it can be applied to the same applicable situation. Under external force, the change curve of kinetic energy of rigid-flexible system is gentler. It has a more significant characteristic of smoothening impact and is more applicative where there is more impact as a result.