一种内啮合分置腿式步行轮及其运动特性  

An Internal Meshed Separate Legged Walking Wheel and its Motion Properties

作　　者：邱晗[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4期354-359,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：针对二级半转机构步行轮结构比较复杂的不足,提出基于半转机构的内啮合分置腿式步行轮方案,改转臂的外啮合传动为内啮合传动,同时采用腿杆分置。该步行轮的腿杆长与定轮直径的选择不受限制,拓展了步行轮适应性设计范围。对内啮合分置腿式步行轮的基本运动规律进行研究,提出位置参数的确定方法,计算足点坐标与步长,建立主轴运动方程;对内啮合分置腿式半转步行轮的行走起伏度进行分析,提出评价起伏度的一个指标——单位步长相对起伏度,得出腿杆长度与定轮半径的比值介于10与20之间时起伏度比较合理,可作为步行轮结构优化设计时确定腿杆长度与定轮直径的约束条件。In view of the lack of complex structure of the walking wheel with second level half rotating mecha- nism, the inner-meshed separate legged walking-wheel（ISLW） based on half rotating mechanism was put forward. The external meshing transmission of the ann was changed to the internal meshing transmission, while the scheme of separate legs was adopted. The selection of legs length and fixed wheel diameter of the walking wheel is unrestricted, thus the scope of the adaptive design of the walking wheel is expanded. The basic motion law of ISLW was studied, the method of determining the location parameters was proposed, the foot point coordinates and step were calculated, and the chief shaft motion equation was established. And the walking undulation of IS- LW was researched on, an evaluation index for waviness, the relative waviness for unit step length, was proposed. It is obtained that the waviness is more reasonable, when the ratio of leg rod length and fixed wheel radius is be- tween 10 and 20. It can be used as a reference conditions of determining the leg rod length and the fixed wheel di- ameter in the optimization design of walking wheel structure.

关 键 词：半转机构 步行轮 起伏度 

分 类 号：TH112[机械工程—机械设计及理论]