摘要
腿式平台具备良好的地形适应性和机动性,可以在复杂的环境下展开作业。考虑到开链腿机构受限于关节驱动的数量、质量及响应速度,提出一种兼具上肢和下肢的新型单动力十连杆闭链腿机构,搭建具备正反两种行走模式的二十四足行走底盘,实现正面十六足行走、反面八足行走。对所搭建多足平台进行机构设计和运动学分析,得到腿部运动参量;基于单元构造和整机集成,进行步态特性分析;最后开展动力学仿真分析,验证多足行走平台的高频驱动特性、多闭链支撑牵引特性与双模式行走机动性能。
The leg platform has good terrain adaptability and mobility,and can be operated in complex environments.Considering that the open-chain leg mechanism is limited by the number,mass and response speed of joint drive,this paper proposes a new single-power ten-link closed-chain leg mechanism with both upper and lower limbs.It establishes a twenty-four feet walking chassis with both positive and negative walking modes for this mechanism which can realize frontal sixteen-footed walking and reverse eight-footed walking.It carries out the structure design and kinematics analysis of the multi-foot platform,and obtains the parameters of leg movement.It performs gait analysis based on unit structure and whole machine integration.Finally,it carries out the dynamic simulation analysis to verify the high-frequency driving characteristics,multi-closed chain support traction characteristics,and dual-mode walking maneuverability of the multi-footed walking platform.
作者
武可庚
翟美丽
Wu Kegeng;Zhai Meili(Taiyuan Railway Machinery School, Shanxi Taiyuan, 030006, China;The High School Affiliated to Beijing Normal University, Beijing, 100052, China)
出处
《机械设计与制造工程》
2020年第8期32-36,共5页
Machine Design and Manufacturing Engineering
关键词
闭链机构
腿式平台
多足机器人
运动学分析
动力学仿真
close-chain mechanism
leg platform
multi-legged robot
kinematic analysis
dynamic simulation
