基于足关节轨迹的步行机器人行走机构型式综合

Type synthesis on the walking mechanism of walking robot based on trace of foot joint

给出了两种足关节运动轨迹。探讨了步行机器人行走机构应具有的特性。提出了三种可以作为行走机构的平面闭链机构,通过建立机构的数学模型,完成了机构的运动分析并给出了分析结果,利用计算机仿真技术模拟机构运动。结果表明这三种行走机构具有良好的运动和动力特性。

Two kinds of motion trace of foot joint were presented in this paper. Characteristics should be provided for the walking mechanism of walking robot were probed. Three kinds of planar closed chain mechanisms that could be taken for the walking mechanism were put forwarded. Motion analysis of mechanism was accomplished by means of establishing the mathematical model of mechanism, and utilizing computer simulation technique to imitate the movement of mechanism. The result showed that these kinds of walking mechanism possesses good characters of motion and motive force.