行走机械腿部轨迹规划及运动特性分析  

Analysis on Trajectory Planning and Motion Characteristics of Walking Machinery Legs

作　　者：王智森 范云波 Wang Zhisen;Fan Yunbo(School of Mechanical and Electronic Engineering,Jingdezhen University,Jingdezhen,Jiangxi 333400,China)

机构地区：[1]景德镇学院机械电子工程学院,江西景德镇333400

出　　处：《黑龙江工业学院学报（综合版）》2023年第1期79-84,共6页Journal of Heilongjiang University of Technology(Comprehensive Edition)

基　　金：景德镇市科技计划项目(项目编号:20202GYZD015-04)。

摘　　要：通过观察螃蟹腿部行走姿态,针对螃蟹腿部结构进行简化处理,模仿设计6条腿对称分布完成行走动作。根据单腿系统自由度计算及机构求解,借助UG软件完成行走机械腿部整体结构设计。基于UG的运动仿真分析功能,得到腿部各关节的运动轨迹及关键节点的运动特性曲线。结果表明:在1个行走循环周期内,腿部运动没有发生突变及干涉现象,行走过程平稳,同时急回特性有利于提高腿部行走效率及跨越障碍物能力。一体化分析方法为同类型仿生机械腿部轨迹规划及运动特性分析提供了一种实用性参考,同时为后续结构二次开发提供理论基础。By observing the walking posture of the crab′s legs,this paper simplifies the structure of the crab′s legs and simulates the symmetrical distribution of six legs to complete the walking action.According to the calculation of the degree of freedom of the single leg system and the solution of the mechanism,the overall structure design of the legs of the walking machinery is completed with the help of UG software.Based on the motion simulation analysis function of UG,the motion trajectory of each joint of the leg and the motion characteristic curve of key nodes are obtained.The results show that in one walking cycle,there is no sudden change and interference in leg movement,the walking process is stable,and the rapid return characteristic is conducive to improving the walking efficiency of the legs and the ability to cross obstacles.The integrated analysis method in this paper provides a practical reference for the trajectory planning and motion characteristics analysis of the legs of the same type of bionic machinery and also provides a theoretical basis for the subsequent secondary development of the structure.

关 键 词：行走机械腿部 结构设计 轨迹规划 运动特性 

分 类 号：TH122[机械工程—机械设计及理论]