类四足移动机构的腿杆关节驱动力矩分析  

Driving Torque Analysis of Leg Rod Joint of Quadruped-imitating Walking Mechanism

作　　者：孙应秋 汪永明[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）》2015年第1期27-32,共6页Journal of Anhui University of Technology（Natural Science）

基　　金：国家自然科学基金项目(51051001);教育部高校科技创新工程重大项目培育资金资助项目(708054)

摘　　要：根据二级半转机构原理设计1种新型类四足移动机构,该机构主要由车体支架、轮腿和轮腿支架三部分组成,其轮腿的各腿杆关节采用舵机直接驱动。针对该类四足移动机构的平地行走、垂直越障和原地转向运动的典型工况,建立相应的腿杆坐标系,分别对其轮腿的一级转臂、二级转臂和跨步杆进行受力分析,基于动静法建立相应的力学模型,并对各驱动关节所需驱动力矩进行仿真。仿真获得不同工况下轮腿机构各腿杆关节驱动力矩变化曲线,其中腿杆关节所需驱动力矩的最大值为0.645 5 N·m,通过计算得出原地转向时转向舵机所需驱动力矩为0.177 0 N·m。这些数据为以后驱动舵机的选型设计提供参考依据。A new kind of quadruped-imitating walking mechanism was designed according to the principle of double-half-revolution mechanism. It is mainly composed of three parts, such as body bracket, wheel leg and wheel leg stand, and each leg rod of the mechanism is driven directly by steering engine. The corresponding leg rod coordinate systems are established in three typical conditions： walking on flat ground, vertical obstacle and pivot turning movement. Mechanics analysis is done on each link of the wheel leg, and the mechanical model based on dynamic- static method is established. The driving torque curves of each leg rod under different conditions are obtained through simulation analysis, and the maximum driving torque is 0.645 5 N·m. By calculating, the required driving torque of steering engine for turning is 0.177 0 N·m. The results provide a reference basis for the steering engine lectotype design in the future.

关 键 词：类四足移动机构 腿杆 驱动力矩 舵机 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]