类两足步行机构行走性能实验研究  

Experimental Study on Walking Performance of Biped-imitating Walking Mechanism

作　　者：王孝义[1] 周军[1] 邱晗[1] 陈富强[1] 邱支振[1] 

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243032

出　　处：《安徽工业大学学报（自然科学版）》2013年第4期414-418,429,共6页Journal of Anhui University of Technology（Natural Science）

基　　金：国家自然科学基金项目(50975001)

摘　　要：类两足步行机构是在动物仿生研究中提出的1种新型双足步行机构。为了测试类两足步行机构运动过程中的行走性能,在分析步行机构基本构型及其行走原理的基础上,设计制造出类两足步行机构物理样机及其实验台车,并分别在平地、爬坡和越障3种工况下进行现场测试实验。结果表明:类两足步行机构的实验驱动扭矩与理论驱动扭矩虽存在一定误差,但总体变化趋势相同;类两足步行机构具有较好的爬坡和越障性能。Biped-imitating walking mechanism （BIWM） is a new biped walking mechanism which was proposed in animal bionic research by our work team.On the basis of introducing the basic structure of BIWM and its walking principle,physical prototype of BIWM and test vehicle was designed and manufactured.Walking test was further performed to get the walking performance of BIWM under three conditions：level ground,slope and obstacle navigation.The experiment result shows that change trend is same in total between actual torque and theoretical torque of the shaft of BIWM,but there is error between them.In addition,BIWM has good climbing performance and obstacle navigation during walking test.

关 键 词：类两足步行机构 行走实验 行走性能 驱动扭矩 

分 类 号：TH112[机械工程—机械设计及理论]