契贝谢夫四连杆机构的优化设计与应用  

Optimization design and application of chebyshev four-bar linkage

作　　者：肖晓萍[1] 李自胜[2] 

机构地区：[1]西南科技大学工程技术中心,绵阳621010 [2]西南科技大学制造科学与工程学院,绵阳621010

出　　处：《机械设计与制造》2011年第9期63-65,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(10876034);四川省教育厅资助项目(07za176);西南科技大学重点资助项目(08zx1102)

摘　　要：优化了契贝谢夫平面四杆机构。首先,利用解析法,建立了契贝谢夫平面四杆机构的数学模型,通过对机构理想的运动曲线的分析,确定了约束方程和目标函数。其次,使用Adams软件中参数化设计与分析方法优化了杆件的长度,得到了较好的运动轨迹。最后,将此机构应用到一自由度轮腿式行走机器人的设计,其仿真实验表明,此机器人在行走的过程具有较好的稳定性。该机构能够为研究低功耗、低成本、易控制的腿式行走机器人提供设计依据,方法实用可行。Chebyshev four-bar linkage has been optimized.Firstly,based on analytical method,a mathematical model of Chebyshev four-bar linkage has been established and through analyzing the ideal mo-tion curve of the mechanism,constraint functions and objective function have been determined.Secondly,better motion trajectory is obtained by applying the parametric design and analyzing method in Admas soft-ware to optimize the length of the linkages.Finally,this mechanism is utilized to design one-degree wheel-leg walking robot.The simulation results show that the robot designed with the approach proposed in it obtains better stability and accuracy in the course of walking,which provides reference for studying and designing leg robot with low-power,low-cost and easy-control.The method is proven to be feasible and practical.

关 键 词：契贝谢夫四杆机构 优化设计 腿式机器人 ADAMS 

分 类 号：TH122[机械工程—机械设计及理论] TH112.1