摘要
液压驱动四足步行机器人关节较多、结构复杂,采用结构与功能仿生的方式,实现了四足步行机器人机械结构的总体设计。从步行机器人运动速度、越障能力、足端运动空间以及灵活性等方面分析了腿节长度对步行机构的影响,分析了机体结构设计与步行机器人运动稳定型、角度规划之间的关系,综合优选出较为合理的四足步行机器人结构参数。
The structure of quadruped walking robot which is driven by hydraulic cylinder has been designed by using of functional bionic method and structural bionic method because of its complex node.The influence of leg mechanism’s length on walking mechanism was illuminated from four different aspects： the velocity of movement,the capacity overcoming the obstacle,the workspace of the foot and the flexibility of walking robot.At the same time,it analyzed the relation between structural design of body and stability of walking robot and the angle planning of joints,and find out the reasonable mechanism parameters after optimization.
出处
《机械设计与制造》
北大核心
2010年第10期176-178,共3页
Machinery Design & Manufacture
关键词
机器人
结构设计
腿节长度
Robot
Structural design
Leg mechanism’s length
