一种新型的空间仿生机械腿的机构设计与研究

Design and analysis of a new spacial bionic mechanical leg

调查目前仿生机器人的研究现状,提出一种空间仿生机构和可变形腿运动机构。该机构具有运动灵活、自由度少、适应性强的特点。利用D-H矩阵分析法和直角坐标分析法对该机构的基本运动单元的运动学进行了理论分析,并给出了运动方程。利用SolidWorks三维造型软件进行了机构的三维建模与干涉检查,利用ADAMS软件建立了这种新型的仿生机器人的虚拟样机,进行了基本运动单元的运动学仿真。根据机构的位移矩阵变换原理,进行了轨迹的对比分析,提出可变形腿机构。

Based on the investigation of the current status of researches on biomimetic robot,a new spatial bionic mechanical leg that can be deformed is proposed,which has advantages of few degree of free- dom,strongflexibility and adaptability.Upon homogeneous transformation,kinematics analysis of each basic functional component of the mechanism was completed,and kinematical equation was set up.With the use of Solidworks, three-dimensional model is created. With the use of ADAMS,this new type of bionic robot proto- type is established,and the kinematic motion simulation of the basic unit is conducted.According to the displacement matrix transform theory,a deformable leg mechanism is proposed and comparative analysis of trajectory is conducted.