基于张拉整体结构仿生足式机构的设计与分析  

Design and Analysis of a Bioinspired Foot Mechanism based on Tensegrity Structure

作　　者：孙建伟[1,2] 吕家乐 孙金荣 宋广生 李晓东 Sun Jianwei;Lü Jiale;Sun Jinrong;Song Guangsheng;Li Xiaodong(School of Mechanical Engineering,Changchun University of Technology,Changchun 130012,China;Key Laboratory of Bionics Engineering of Ministry of Education,Jilin University,Changchun 130022,China;Intelligent Manufacturing Engineering Center,Qianchao Bearing Co.,Ltd.,Hangzhou 311247,China)

机构地区：[1]长春工业大学机电工程学院,吉林长春130012 [2]吉林大学工程仿生教育部重点实验室,吉林长春130022 [3]钱潮轴承有限公司智造工程中心,浙江杭州311247

出　　处：《机械传动》2022年第1期87-92,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51875047);吉林省教育厅科学技术研究规划项目(JJKH20210721KJ)。

摘　　要：传统足式机器人在复杂地形上自适应行走方面存在着机构柔性不足。基于张拉整体结构与人体肌肉骨骼系统相似性,提出了一种仿生张拉足式机构,用于提升传统足式机器人自适应地形和稳定锁紧性能。通过张拉单元匹配建立了类似人体足部的张拉整体结构等效映射模型;采用仿生设计方法实现了机构构型设计;制作了物理样件并搭建了实验平台。结果表明,提出的仿生足式机构具有较好的柔性和稳定性,提升了传统足式机器人斜坡地形的自适应稳定行走能力。Traditional feet robots have shortcomings of mechanism flexibility insufficient in adaptive walking on complex terrain.A bio-tensegrity foot mechanism is proposed for promoting the performance of adaptive terrain and stable locking locomotion of the conventional foot robots on sloped terrain based on the similarity between musculoskeletal systems and a tensegrity structure.The equivalent mapping model of a tensegrity structure is established by the matching of tension unit,the design of configuration of the mechanism achieved by the method of bionic design,a physical sample is made and an experimental platform is built.The results show that the proposed bionic foot mechanism has good flexibility and stability,the adaptive and stable walking ability of the traditional foot robot on slope terrain are improved.

关 键 词：张拉整体结构 仿生设计 自适应运动 锁紧机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] Q811[自动化与计算机技术—控制科学与工程]