Biped 4R2C Six-bar Mechanism with Inner and Outer Feet  

作　　者：LIU Chao WANG Hao YAO Yan-an 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University [2]Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures,Shanghai Jiao Tong University [3]School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University

出　　处：《Chinese Journal of Mechanical Engineering》2016年第1期45-55,共11页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.51175030,51505022);Foundation of Talents of Beijing Jiaotong University,China(Grant No.2015RC047);China Postdoctoral Science Foundation(Grant No.2013M531168);the Specialized Research Fund for the Doctoral Program of Higher Education,China(Grant No.20130009110030)

摘　　要：Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet based on a spatial six-bar 4R2C（R and C denote revolute and cylindric joints, respectively） mechanism is proposed. It can move along a line or a curve by three walking modes that are dwell adjustment mode, limit position adjustment mode and any position adjustment mode. Kinematic, gait planning and stability analyses are performed respectively, and a prototype is developed. Lastly, a potential application is considered and two manipulating modes（sphere and cylinder manipulating modes） are carried out. This interesting mechanism feathering its single dosed-chain structure and unique work performance is expected to motivate the configuration creation of biped robots.Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet based on a spatial six-bar 4R2C（R and C denote revolute and cylindric joints, respectively） mechanism is proposed. It can move along a line or a curve by three walking modes that are dwell adjustment mode, limit position adjustment mode and any position adjustment mode. Kinematic, gait planning and stability analyses are performed respectively, and a prototype is developed. Lastly, a potential application is considered and two manipulating modes（sphere and cylinder manipulating modes） are carried out. This interesting mechanism feathering its single dosed-chain structure and unique work performance is expected to motivate the configuration creation of biped robots.

关 键 词：spatial six-bar mechanism 4R2C mechanism biped mechanism 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112.1[自动化与计算机技术—控制科学与工程]