剪叉可展机构腿的步行机设计及性能分析

Design and Analysis of Deployable Leg with Scissor Structures for Walking Robot

从可展开的剪叉状连杆单元入手,利用其运动特性进行了步行机腿的构型设计,并就可展单元结构进行了物理性能分析,确定了步行机可展单元腿的基本构型;进行了可展机构腿的运动学分析,采用矢量法求解了腿部运动学正解,并给出了正解的解析表达式;同时与一般单开链两自由度连杆机构腿对比进行了承载能力分析,说明可展机构腿在行走作业时具有良好的克服非结构化路面的潜能以及良好的步态遍历性;根据运动学给出了腿部的工作空间,分析了工作空间内的力学分布情况;以四足步行机为例,进行了腿的尺度设计,给出了一种可展机构腿的整机实例。

Based on the deployable scissors structure unit,the configuration design of the leg is carried out using its kinematic performances,the physical properties of the deployable unit structure are analyzed,and the configuration of the leg for a walking robot is determined.The kinematics of the deployable mechanism leg is analyzed,the forward kinematics of the leg is solved by vector method,and the algebraic expression of forward kinematics is given.At the same time,the carrying capacity of the deployable scissors structure leg is analyzed and compared to the general serial 2-DOF linkage mechanism.The results indicate that the deployable scissors structure leg has good potential to overcome the unstructured road surface and good gait ergodicity when walking.Based on the kinematics,the working space of the leg and the mechanics distribution in the working space are analyzed.Taking the quadruped robot as an example,the scale design of the legs is carried out,and a prototype of the deployable legs is developed.