仿生人体足部行走特性的两足机器人足部设计  

The Design of Robot Foot Mechanism Base on Human Body Bionics

作　　者：胡小春[1] 张召 葛鹏 

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009

出　　处：《机械设计与制造》2018年第2期202-205,共4页Machinery Design & Manufacture

摘　　要：人体足部的触地模式和结构柔性是人体行走平稳的重要特征和保障。研究论述在双足行走机器人足部设计中仿生人体足部特征对提高其行走平稳性的作用机制,并提出一种基于直线驱动、具有空间三并联五杆柔性机构的机器人仿生足部。参照人体足部行走实验的位移和形变数值,进行了仿生机器人足部的强度设计和柔性设计。通过有限元分析,对仿生足部在全足支撑相位的柔性、强度和触地受力情况进行了验证。The touchdown mode and structural flexibility of the human foot are important features and guarantee for human smooth walking. It discussesthat emulating the characteristics of human foot can improve the walking stability in biped walking robot design. A bionic robot＇s foot thatactuated by？linear？drive is proposed with three five-flexible-link mechanisms in parallel. According to the displacement and deformation data from the human foot walking experiments, it is further designedfor strength, flexibility and engineering details. Through finite element analysis, the foot is validatedwith the corresponding ground reaction force, strength and flexibility in the full foot support phase.

关 键 词：仿生足部 触地方式 结构柔性 三并联五杆柔性机构 全足支撑相 

分 类 号：TH16[机械工程—机械制造及自动化] TH122