基于单自由度六杆步行机构的机器狗设计和分析  

Design and Analysis of Robot Dog Based on Six Bar Walking Mechanism with a Single Freedom Degree

作　　者：韩玉坤[1] 张运真[1] 

机构地区：[1]安阳工学院机械工程学院,河南安阳455000

出　　处：《机械工程师》2016年第4期42-45,共4页Mechanical Engineer

摘　　要：针对四足机器人常用步行机构使用过程中出现的一些问题,设计一种单自由度六杆闭环机构作为机器狗的步行机构以完成行走功能;头部机构采用旋转关节,尾部由旋转关节连接的两段开环杆件构成,分别模拟狗的摇头摆尾动作;足底部采用凹凸曲面以增强其相对地面的接触摩擦力。利用单自由度六杆机构作为步行机构可以使机器狗的结构尺寸更为紧凑,刚性更好,电机数目减少,足端轨迹的累积误差降低,并易于控制,可为不同类型的四足机器人的设计提供一定参考。To solve common problems of quadruped robot walking mechanism in the use process, this paper designs a single freedom six bar closed-looped mechanism as a walking mechanism of a robot dog to accomplish its walking function. The head and the tail are composed of open loop bars which are connected to the body with the rotary joint to simulate the motion of the head shaking and the tail wagging. We adopt concavo convex surface on foot bottom to enhance the contact friction force relative to the ground. This mechanism makes the machine dog structure more compact and better rigidity, and can reduce number of motors and accumulation error of foot end, its control is easy.This design can provide a reference for the design of different types of quadruped robot.

关 键 词：机器狗 四足机器人 步行机构 单自由度六杆机构 连杆端部轨迹曲线 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]