六足步行机的设计与研究

The Six Walking Mechanism Design and Research

步行机具有较大的越障能力和环境适应性,在许多行业中有着广阔的应用前景,其开发与应用是研究的热点之一。为此,研究设计了一种类似于哺乳动物直立行走的腿部机构,分析这种抬腿行走机构的姿态和可行性,并针对这种腿机构设计了一种用单电机驱动的六足行走机构,采用三足步态行走,从而实现了六足步行机构的直行功能。通过Pro-E仿真,获得这种腿机构的足端运动轨迹,分析轨迹后得出这种机构具有很好的跨越能力,并具有很强的稳定性。

Walking machine has the bigger the barrier ability and strong environmental adaptability,many industry has a broad application prospect,so its development and application is one of the hot spot in the study.In this paper,design a kind of similar to the mammals upright walk mechanism,analyses the leg mechanism lifts walk posture and feasibility,and in the light of the leg mechanism design with a single motor drive six feet walking mechanism,the use of three feet walking gait,thus achieve the six walking mechanism has the straight walk function.Through the pro-e simulation,have this kind of leg mechanism of the foot end trajectory,analysis trajectory that this kind of mechanism possesses good spanning ability,side by side has a strong stability.