面向爬楼梯场景的仿人步态机器人机构设计与行走功能试验研究

Mechanism Design and Walking Function Test of Humanoid Gait Robot for Stair Climbing Scene

现有仿人步态机器人装置大多存在重心变化幅度大、升降平稳性差、运动控制难、布置灵活性不足等问题。为此,设计一种新型的仿人爬楼梯步态运动方式机器人。将平移机构和升降机构相结合,实现阶梯状运动轨迹。研究其核心构件、关键的功能原理和主要的力学特征;通过进行ADAMS运动学仿真和搭建实物样机试验,验证这种双剪叉结构与丝杆传动形式相结合的升降机构设计的可行性。结果表明:该机构能适应台阶立面高度160~180 mm、平面长度290 mm以上的楼梯场景,并具有良好的负载爬梯功能。

Most of the existing schemes of auxiliary equipment with lower limbs have some problems,such as large variation of center of gravity,poor lifting stability,difficult motion control and insufficient layout flexibility.Therefore,a new humanoid stair climbing gait motion robot was designed.The translation mechanism and the lifting mechanism were combined to realize the stepped motion trajectory.The core components,key functional principles and main mechanical characteristics were studied;the feasibility of the lifting mechanism design of the combination of double shear fork structure and screw drive was verified.The results show that the mechanism can adapt to the stair scene with step elevation height of 160 mm to 180 mm and plane length of more than 290 mm,and has good load ladder climbing function.