A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation  

作　　者：Mingfeng WANG Marco CECCARELLI Giuseppe CARBONE 

机构地区：[1]School Of Mechanical and Electrical Engineering, Central SouthUniversity, Changsha 410083, China Laboratory of Robotics andMechatronics (LARM), DICeM, University of Cassino and SouthLatium, Cassino 03043, Italy [2]Laboratory of Robotics and Mechatronics (LARM), DICeM, Universityof Cassino and South Latium, Cassino 03043, Italy

出　　处：《Frontiers of Mechanical Engineering》2016年第2期144-158,共15页机械工程前沿（英文版）

摘　　要：A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

关 键 词：feasibility study biped locomotor bipedwalking mechanical design dynamic simulation tripodleg mechanism 3-UPU parallel manipulator 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]