To improve the stiffness performance of the parallel mechanism, this paper proposes a novel 3-DOF redundantly actuated 2RPU-2SPR parallel mechanism. What is more, the stiffness model of the parallel mechanism is deduced and the accuracy of the stiffness model is verified through finite-element analysis. Finally, the simulation experiment results demonstrate that the redundantly actuated parallel mechanism has better stiffness performance compared to a traditional 2RPU-SPR parallel mechanism.

Aiming at the complex control system of a quadruped robot, a leg structure of a quadruped robot was designed based on mechanism synthesis. The innovativeness of this robot is that it can achieve a special gait driven only by a single motor. Simulation and experimental analysis prove that the mechanism is reasonable, reliable and can meet the requirements of linear walking and climbing. The conclusions of this research will be useful for application in field of single actuated quadruped robots.

Compared with the two traditional intelligent optimization algorithms, the results show that the particle swarm optimization configuration algorithm, based on an improved orthogonal experiment design, has a better optimization effect, and the results are improved to a certain extent. The evaluation indexes of a multi-objective optimization design are often contradictory. The designer needs to compromise and select an appropriate parameter design value.