多足机器人单腿机构方案设计与运动学分析  

Scheme Design and Kinematics Analysis of Single Leg Mechanism of Multi-legged Robot

作　　者：罗继曼 刘择明 印辉 刘士恒 丛丽娜 Luo Jiman;Liu Zeming;Yin Hui;Liu Shiheng;Cong Li'na(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110000,China;Inspection Department,Shenyang Zhongzheng Special Equipment Inspection Co.,Ltd.,Shenyang 110000,China)

机构地区：[1]沈阳建筑大学机械工程学院,辽宁沈阳110000 [2]沈阳中正特种设备检测有限公司检测部门,辽宁沈阳110000

出　　处：《机械传动》2021年第11期71-78,共8页Journal of Mechanical Transmission

基　　金：辽宁省自然科学基金(20160260)。

摘　　要：为实现对管道内环境的监测与检修,设计了一种以凸轮-连杆机构作为机器人单腿的多足管道机器人。对单腿机构进行了运动分析和机构改进,改善了初始连杆机构方案中运动精度不高、惯性力较大的缺点。对机构方案进行了理论建模,再应用三维建模软件SolidWorks与运动分析软件Adams联合仿真的方法对机构进行了运动分析,通过改变机构相关参数进而进行了机构的改进。通过对比分析可见,采用凸轮-连杆机构方案比初始连杆机构方案具有更多的优点;改变凸轮的尺寸,机构的足端在法线方向上的位移量变大,足端会抬得更高,且相同时间内可以行走更长的路程。研究结果还表明,该凸轮-连杆机构运动时惯性力及冲击更小,运行更平稳,容易实现特定运动规律。In order to realize the monitoring and maintenance of the internal environment of the pipeline,a cam-linkage mechanism is designed as a multi-legged pipeline robot,and the motion analysis and mechanism improvement of the single-leg mechanism are carried out,so as to improve the shortcomings of the initial con⁃necting rod mechanism,such as low motion precision and large inertia force.The mechanism scheme is theoreti⁃cally modeled,and then the motion analysis of the mechanism is carried out by using the method of the joint sim⁃ulation of 3D modeling software SolidWorks and motion analysis software Adams.The mechanism is improved by changing relevant parameters of the mechanism.Through comparative analysis,it can be seen that the cam linkage scheme has more advantages than the initial scheme.Change the size of the cam,the foot of the mecha⁃nism in the normal direction of the displacement of the greater,the foot will be lifted higher,and the same time can walk a longer distance.The results also show that the cam-linkage mechanism has less inertia force and im⁃pact,more stable operation,and easy to realize specific motion law.

关 键 词：管道机器人 凸轮 SOLIDWORKS ADAMS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]