双闭链式步行腿机构的设计与分析  

Design and Analysis of Double Closed Chain Walking Leg Mechanism

作　　者：张国利 汪永明[1,2] ZHANG Guoli;WANG Yongming(School of Mechanical Engineering,Anhui University of Technology,Maanshan 243032,China;Anhui Key Laboratory of Special Heavy Duty Robot,Anhui University of Technology,Maanshan 243032,China)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243032 [2]安徽工业大学特种重载机器人安徽省重点实验室,安徽马鞍山243032

出　　处：《安徽工业大学学报（自然科学版）》2021年第3期290-296,共7页Journal of Anhui University of Technology（Natural Science）

基　　金：安徽省自然科学基金项目(1908085ME131);安徽省教育厅自然科学基金项目(KJ2015ZD11)。

摘　　要：设计一种由平行四杆机构、曲柄滑块机构组成的两自由度双闭链式步行腿机构。采用复合摆线作为步行腿足端轨迹规划的目标曲线,基于几何解析法建立步行腿足端轨迹数学模型;以理论计算的足端轨迹和复合摆线轨迹距离最小为优化目标,建立步行腿杆件尺寸参数优化模型;采用遗传算法与fmincon函数内点法联合求解得到步行腿杆长的最佳尺寸,在ADAMS软件中对步行腿单腿足端轨迹进行仿真分析,且进行步行腿样机实验。结果表明:仿真曲线与优化曲线一致,位移、速度、加速度曲线连续;步行腿能够实现322 mm的跨步长度以及106 mm的越障高度,其与仿真结果之间的误差分别为7%与6%,验证了步行腿结构设计与足端轨迹规划的可行性。A 2-DOF double closed chain walking leg mechanism composed of parallel four-bar mechanism and crank slider mechanism was designed.The compound cycloid was used as the objective curve of foot end trajectory planning.Based on the analytic geometry method,the mathematical model of foot end trajectory of walking leg was established.The optimization model of walking leg bar size parameters was established with the minimum distance between foot end trajectory and compound cycloid trajectory theoretically calculated as the optimization objective.Genetic algorithm and fmincon function interior point method were used to obtain the optimal length of walking leg.In ADAMS software,the trajectory of the foot end of the walking leg was simulated and analyzed.and the walking leg prototype test was carried out.The results show that the simulation curve is consistent with the optimization curve,and the displacement,velocity and acceleration curves are continuous.The walking leg can achieve 322 mm stride length and 106 mm obstacle height,and the error between the experimental results and the simulation result is 7%and 6%respectively,which verifies the feasibility of the walking leg structure design and foot trajectory planning.

关 键 词：步行腿 双闭链 足端轨迹 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]