可重构闭链步行平台的设计与越障策略研究

Design of Reconstruction Closed-chain Walking Platforms and Research on Obstacle-overcoming Strategy

为解决闭链步行平台重构调节后越障攀爬效率与平顺性问题,基于Watt型闭链腿机构设计了包含机架杆长和倾角参数的耦合调节机构,在保持单重构动力的同时减小质心波动并降低驱动功率需求。建立了越障概率模型计算越障期望,研究了双参数重构下全周期障碍攀爬策略,进行了样机设计并开展了行走与越障试验,结果表明,双参数耦合调节设计可增加平台与障碍接触面的贴合度,提高越障平顺性。

In order to solve the problems of obstacle climbing efficiency and ride comfort after reconstruction adjustment of the closed-chain walking platforms,a coupling adjusting mechanism with frame rod length and inclination angle parameters was designed based on the Watt-type closed-chain leg mechanism to reduce centroid fluctuation and drive power requirements while maintaining single reconstruction power.The obstacle probability model was established to calculate the obstacle expectation,and the full cycle obstacle climbing strategy was studied under two-parameter reconstruction.Prototype design was carried out,and walking and obstacle-overcoming tests were carried out.The results show that the two-parameter coupling adjustment design may increase the fit degree between the platform and the obstacle contact surfaces and improve the obstacle ride comfort.