一种步行机构的图谱辅助综合法  

Synthesis of the Walking Mechanism with the Four-bar Linkage's Curve-atlas Aided

作　　者：郭哲英 王成云[1] 

机构地区：[1]大连轻工业学院

出　　处：《机械科学与技术》1995年第4期69-73,共5页Mechanical Science and Technology for Aerospace Engineering

摘　　要：首先采用一种Ｓｔｅｐｈｅｎｓｏｎ型六杆机构作为机器人的步行机构，然后根据足端的相对轨迹要求，借助于铰链四杆机构的连杆曲线图谱求找该步行机构的初始尺寸。在此基础上，利用优化设计方法对机构的全部尺寸进行了精化。最后完成了整个机构的设计。A Stephenson 6-bar linkage is considered to be the walking mechanism, and then, the basicdimensions of the mechanism are synthesized initially with the 4-bar linkage's curve-atlas aided toaccord with the leg's motion. The optimization and computer aided design method are used to deter-mine the dimensions of the mechanism at last. Some kinematic properties of the walking mechanismare also analyzed.

关 键 词：步行机构 机构综合 连杆曲线图谱 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]