足履式机器人的设计与分析  

The Design and Analysis of Foot Track Robot

作　　者：夏尔冬[1] 王春荣[1] 熊昌炯[1] 刘金磊 谢鹏[1] XIA Erdong;WANG Chunrong;XIONG Changjiong;LIU jinlei;XIE Peng(School of Mechanical and Electronic Engineering,Sanming University,Sanming 365004,China)

机构地区：[1]三明学院机电工程学院,福建三明365004

出　　处：《三明学院学报》2022年第6期67-72,共6页Journal of Sanming University

基　　金：三明学院科学研究发展基金暨福建省中青年教师教育科研项目(JAT200641,B202032);福建省自然科学基金项目(2022J011181)福建省引导性项目(2020H0048);三明市引导性科技项目(2021-G-7);国家科技项目备案(2021L3029)。

摘　　要：为提高机器人的越障能力和移动速度,设计一款具有较强适应能力的足履式机器人。首先,为克服机器人在足式和履带式驱动时的干涉问题,设计了同心不同轴的连接机构。然后,设计一种新型可折叠的腿部机构,使机器人在履带驱动模式下,足部与地面保持一定的距离,提高机器人的运动能力。此外,在机器人腿的根部设计了可伸缩的脚趾,增加机器人与地面的接触面积,提高机器人在足式运动时的稳定性。最后,利用有限元分析软件对机器人的关键零部件进行静力学分析,结果表明其满足可靠性及强度要求。In order to improve the obstacle surmounting ability and moving speed of the robot, a foot track robot with strong adaptive ability is designed. Firstly, in order to overcome the interference problem of the robot in foot and track driving, a concentric and different axis connecting mechanism is designed. Then, a new folding leg mechanism is designed,which makes the feet of the robot keep a certain distance from the ground under the track driving mode, so as to improve the movement ability of the robot. In addition, to improve the stability of the robot under the foot driving mode, the retractable toes are designed at the root of the robot leg to increase the contact area between the robot and the ground. Finally, the static analysis of the key components of the robot are carried out based on the finite element analysis software, and the results show that their reliability and strength meet the requirements.

关 键 词：足履式机器人 腿部机构 静力学分析 

分 类 号：TH122[机械工程—机械设计及理论]