一自由度腿式行走机构的研究与设计  

Study and Design of One-DOF Leg Walkng Mechanisms

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》2012年第6期47-49,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：设计了一种一自由度腿式行走机构,机构由平面四杆机构和放大机构组成。首先基于契贝谢夫平面四杆机构特点,利用解析法,建立相应数学模型,得出运动学方程。其次利用Adams对行走轨迹进行仿真分析,讨论了连杆长度对运动轨迹的影响,并进行了运动学仿真研究。最后,通过系统仿真和搭建原型,验证了方案的正确性及机构设计的合理性。该机构的设计为开发新型的低功耗、低成本、易控制的腿式机器人提供设计了依据,实用可行。A kind of one-DOF leg walking mechanisms which consist of a four-bar linkage and a pantograph mechanisms is designed.Firstly,the kinematical equation is gained by building mathematical model in which analytical method is used based on the property of chebyshev four-bar linkage.Secondly,ADAMS software is employed to analyze the walking gait trajectory,and the influence of the length of linkages on its trajectory is discussed,meanwhile the kinematical simulation is also studied.At last,the correctness of scheme of leg walking mechanisms and reasonability of design ideas is verified by using simulation and prototype.The result shows that the method proposed is feasible and practical,which also provides design basis for developing new model of manageable leg robot with low consumption and low-cost.

关 键 词：契贝谢夫机构 行走机器人 放大机构 ADAMS 

分 类 号：TH16[机械工程—机械制造及自动化]