类两足步行机构及其运动几何特征分析与应用

Analysis and Application of Motion Geometry Feature for a New Biped-imitating Walking Mechanism

根据两足步行运动特点,采用能产生不对称运动的半转机构设计一种新型类两足步行机构——半转步行机构,并详细介绍了该步行机构的传动关系与步行原理。通过对相关构件运动方程的解析,揭示了半转步行机构运行过程中三个固有几何特征:转臂运动驻点、腿杆运动驻点和机构运动特征线。针对先期研究的偏置腿式步行机构因避免运动干涉而腿长受限以及二级转臂结构复杂等缺点,利用上述运动几何特征,进一步提出一种改进型的分置腿式步行机构。

Bionic walking mechanism is an important part of bionic motion machine. According to the characteristic of biped walking, a new biped-imitating walking mechanism called Half-Rotating Walking Mechanism （HRWM） was designed using Half-Rotating Mechanism （HRM） which can generate asymmetry motion. The driving process and walking principle of HRWM were introduced in detail. Through analysis of kinematic equations of related com- ponents, some inherent motion geometry features, including motion stationary point of rotating arm and leg, motion feature line of HRWM, were further proposed. To improve ipsilateral-leg type HRWM researched early, which tends to be of complex structure of rotating arm and limited length of leg resulted from motion interference, bilater- al-leg type HRWM was presented utilizing the above motion geometry features. The research results are helpful to establish the theory of design and analysis for HRWM.