Workspace Analysis of a Highly Coupled Quadruped Robot with Six Actuated Degrees of Freedom

Abstract

This thesis presents an optimization strategy for the parallel geometry of a coupled quadruped robot. The primary objective is to enhance the reachable workspace of the robot’s feet by refining its characteristic lengths. The study introduces an innovative approach to defining and calculating the workspace of coupled quadrupeds efficiently. An analytic solution to the forward kinematics is developed to expedite the calculation process. The workspace evaluation ensures the optimized workspace is not only increased in volume but also possesses functional attributes suitable for a walking device. A genetic algorithm is employed for the optimization, balancing robustness and computational efficiency. The results demonstrate significant improvements in the workspace parameters, underscoring the effectiveness of the proposed methods.