单执行器步行机器人机构运动分析

Single actuator walking robot mechanism motion analysis

步行机器人腿机构一般为多自由度且需多个驱动执行器。文章介绍了一种单自由度腿机构,只用一个执行器来驱动。该机构以Hoecken为基础构成,其足部具有良好的位移特性和速度特性。文章对Hoecken机构的连杆端部运动特性进行了数学建模、理论分析和计算机仿真,证明了其良好的运动特性。分析表明:采用该腿机构能使机器人本体保持平行于地面、速度平稳的运动。

Walking robot＇s leg mechanism is generally multi degree of freedom and needs more than one actuator.This paper introduced a kind of single degree of freedom walking robot＇s leg mechanism which only needs a actuator.The agency to Hoecken mechanism as the basis,the foot has good displacement characteristic and speed characteristic.In the paper,the author completed mathematical modeling,theoretical analysis and computer simulation for the motion characteristics of the end of the connecting rod in the Hoecken mechanism,and proved the good movement characteristics of the mechanism.The analysis shows that the leg mechanism can make the robot body remain parallel motion to the ground and have smooth velocity.