仿生机械腿的最简形式

The Simplest Form of Bionics Mechanical Legs

对仿生机械腿的基本运动要求是平稳,三关节四自由度机械腿是满足这一要求的最简形式.它的构件的运动的数学表达是一组复杂的行走函数,实现这一目标需要一个由匀速转动到行走函数摆动的转换器.凸轮式转换器与流行的转换方式相比有独特的优点.用轨迹图解法设计凸轮曲线是有效而实用的.

Smoothness is the basic reguirement for movements of bionics mechanical legs. The simplest form to meet the reguirements is a leg with three joints and four freedoms. The movements of its parts are determined by complicated walking function. The objective of the movement from uniform turn to swing of walking function can be realized by cam change installation. It is effective to design cam curves with the method of locus and graphic.