仿生双足水上行走机器人运动学分析及优化设计  

Kinematics analysis and optimization design on a walking mechanism of bionic biped water-walking robot

作　　者：曹凯[1,2] 徐林森[2] 沈惠平[1] 魏鲜明[1,3] 

机构地区：[1]常州大学机械工程学院,江苏常州213016 [2]中国科学院合肥物质科学研究院先进制造技术研究所,江苏常州213164 [3]中国科技大学信息科学技术学院,安徽合肥230031

出　　处：《机械设计》2013年第7期25-28,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50905175)

摘　　要：设计了仿生双足水上行走机器人行走机构,导出了两脚掌中心的运动轨迹方程、速度及加速度方程;以模拟蛇怪蜥蜴脚掌的运动轨迹为目标,选取给定脚掌拍击和扑打阶段的运动轨迹参数,进行给定轨迹的最优化设计,得到腿部机构的各个杆长参数。根据优化结果制作样机,并分析证明该仿生机构脚杆的运动能够满足蛇怪蜥蜴脚掌的运动轨迹要求。A walking mechanism of bionic biped water-walking robot is designed;the equations of the location,velocity and acceleration is derived.To simulate the foot trajectory of basilisk lizard′s,all the leg length parameters are achieved by optimizing the design of a given trajectory which is obtained by the set foot trajectory of impact and beat phase.The curve of angle between the feet of prototype and the horizontal is completed by the test of prototype and realized according to the optimized result.The simulation results show that the movement of this bionic walking mechanism can meet the basilisk lizards′foot trajectory.

关 键 词：仿生 运动学 优化 样机 

分 类 号：TH112[机械工程—机械设计及理论]