摘要
人体足部的触地模式和结构柔性是人体行走平稳的重要特征和保障。研究论述在双足行走机器人足部设计中仿生人体足部特征对提高其行走平稳性的作用机制,并提出一种基于直线驱动、具有空间三并联五杆柔性机构的机器人仿生足部。参照人体足部行走实验的位移和形变数值,进行了仿生机器人足部的强度设计和柔性设计。通过有限元分析,对仿生足部在全足支撑相位的柔性、强度和触地受力情况进行了验证。
The touchdown mode and structural flexibility of the human foot are important features and guarantee for human smooth walking. It discussesthat emulating the characteristics of human foot can improve the walking stability in biped walking robot design. A bionic robot＇s foot thatactuated by？linear？drive is proposed with three five-flexible-link mechanisms in parallel. According to the displacement and deformation data from the human foot walking experiments, it is further designedfor strength, flexibility and engineering details. Through finite element analysis, the foot is validatedwith the corresponding ground reaction force, strength and flexibility in the full foot support phase.
出处
《机械设计与制造》
北大核心
2018年第2期202-205,共4页
Machinery Design & Manufacture
关键词
仿生足部
触地方式
结构柔性
三并联五杆柔性机构
全足支撑相
Bionic Robot Foot
Touchdown Mode
Structure Flexibility
Three Five-Flexible-Link Mechanisms in Parallel
Full Foot Support Phase
