一种空间四杆两足步行机构的研究  

Research on spatial four-bar biped mechanism

作　　者：邓孔书[1] 姚燕安[1] 查建中[1] 

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《工程设计学报》2005年第6期363-365,共3页Chinese Journal of Engineering Design

基　　金：国家自然科学基金资助项目(50405004);国家自然科学基金重点资助项目(50335040);北京交通大学基金资助项目(JXJ05009)

摘　　要：提出一种新型两足步行机构.该步行机构以单一的两自由度空间四杆机构作为本体,与传统的多杆多动力步行机构相比,具有结构与控制系统简单的优点.介绍了其结构原理,进行了稳定性分析,并制作了原理样机以验证概念的可行性.This paper presents a new biped mechanism. A single spatial four-bar mechanism with two degrees of freedom is adopted as the body of the biped mechanism. In comparison with traditional walking machines with multi-links and multi-actuators, the new biped mechanism has the advantage of simple structure and control system. The structural principle is introduced and its stability is analyzed. Finally, a prototype is developed to verify the feasibility of the proposed concept.

关 键 词：空间四杆机构 两足步行机构 稳定性 

分 类 号：TH241[机械工程—机械制造及自动化]