摘要
设计了一种适合在园林、森林等野外非路面崎岖环境中行走的机器人步行装置。首先对步行腿机构进行分解,利用矢量多边形分别建立步行腿四连杆机构相应的封闭矢量位置方程数学模型;再根据矢量运动学方程,进行步行腿运动位置分析;最后装配了物理样机并进行测试。测试结果表明,机器人步行装置设计原理正确,方案可行,矢量运动学方程分析结果可用,可为进一步进行机器人行走机构的优化设计和动力学分析提供参考。
This paper designs a walking device suitable for the rough environment of the partially off-road field such as garden,forest,etc.Firstly,the walking leg mechanism is decomposed,and the corresponding closed vector position equation mathematical models of the walking leg four-bar mechanism are established by using vector polygons.Secondly,according to the vector kinematics equation,the motion position of walking leg is analyzed.Finally,a physical prototype is assembled and tested.The test results show that the design principle of the robot walking device is correct,the scheme is feasible,and the results of vector kinematics equation analysis are available,which can provide reference for further optimization design and dynamic analysis of the robot walking mechanism.
作者
刘静
张久雷
Liu Jing;Zhang Jiulei(Department of Art and Design, Guangdong PolyTechnic Institute,Guangdong Foshan,528041,China;Department of Electrical and Mechanical Engineering,Guangdong PolyTechnic Institute,Guangdong Foshan,528041,China)
出处
《机械设计与制造工程》
2021年第8期27-31,共5页
Machine Design and Manufacturing Engineering
基金
广东省教育科学规划项目(2019JKCY012)。
