双电机驱动的六足直立式步行机构设计与运动学分析

Design and Kinematics Analysis of Dual-motor Driven Six-legged Upright Walking Mechanism

设计了一种双电机驱动的步行机构,该机构由连杆构成的6条直立式步行腿所组成。通过对步行腿机构原理的分析,对单侧步行腿机构分解出的简单平面四连杆机构进行解析,以复数矢量法为基础,建立机构运动学模型。根据运动学方程,进行运动位置分析,找出极限位置,绘制出步行腿机构位置图,确定步行腿运动构件的运动空间,判断是否发生干涉。最后搭建实物样机验证了设计方案的可行性。样机试验结果表明,步行腿机构的运动特性能够满足六足步行机构的工作要求,设计方案可行,可为下一步的优化设计开发新型步行机器人提供依据,具有重要的研究意义。

A kind of dual-motor driven walking mechanism which consist of six upright walking legs made up of connecting rods is designed.Firstly,through analyzing the principle of walking leg mechanism,the simple planar four-bar linkage is decomposed by unilateral walking leg mechanism.Based on complex vector method,the kinematical equation is established.According to the kinematics equation,the analysis of the position of the movement,the limit position is find out,the position map of the walking leg mechanism is drawn,the movement space of the walking leg is determined,and whether the interference occurs is judged.Finally,a prototype is built to verify the feasibility of the design scheme.The prototype test results show that walking leg mechanism can meet to working requirements of six-legged walking robot,this design scheme is feasible.The basis for the next optimization design and development of new walking robots is provided,it has important research significance.