KINEMATICS AND SIMULATION ANALYSIS OF A PARALLEL LEG HEXAPOD AGRICULTURAL ROBOT

In view of the problems such as poor bearing capacity and large motion error of hexapod robot with series leg structure and plane multi-link structure,The parallel leg hexapod agricultural robot mechanism with one translational and two rotations（ 1 T2 R） was proposed. Firstly,the kinematics position,speed and acceleration of the parallel leg mechanism were analyzed. Secondly,the working space of the parallel leg mechanism was analyzed based on the structural constraints. Finally,three-dimensional modeling and simulation analysis of the hexapod agricultural robot mechanism were carried out. Theoretical analysis and simulation results show that the forward and inverse kinematics equations of the parallel leg mechanism can be solved analytically,and the forward equation has at most four groups of solutions. The partial motions of the mechanism are with inputoutput decoupling and the mechanism can be controlled easy. The parallel leg mechanism has a large working space and is composed of multiple spherical crowns