Redundant actuation research of the quadruped walking chair with parallel leg mechanism

This paper describes the mechanical design and coordinate system setting of the quadruped/biped reconfigurable walking chair with parallel leg mechanism. Based on screw theory, the input selecting principle under determinate movement is analyzed and kinematic screw system of the branch UPU mechanism is established, and then the corresponding constraint screw system is got. According to the input selecting principle and taking the constraint force/torque dexterousness as the performance evaluation index, the optimal input combinations are obtained, which lays theoretical foundation for kinematics and control of walking chair.