一体化重构闭链腿机构的设计与越障性能分析  

Design and Obstacle-surmounting Performance Analysis of an Integrated Reconfigurable Closed-chain Leg Mechanism

作　　者：赵顺卿 翁铭泽 武建昫 姚燕安[1] ZHAO Shunqing;WENG Mingze;WU Jianxu;YAO Yan an(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing,100044;China Academy of Aerospace Aerodynamics,Beijing,100071)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]中国航天空气动力技术研究院,北京100071

出　　处：《中国机械工程》2025年第1期47-58,共12页China Mechanical Engineering

基　　金：国家自然科学基金(52205007);中央高校基本科研业务费专项资金(2024JBZY005)。

摘　　要：为解决传统闭链腿机构攀爬越障性能不足的问题,基于Watt型闭式运动链开展了构件元的尺度重构设计,采用间歇机构耦合行走动力与重构动力,设计了一体化重构闭链腿机构。分析了杆件的重构灵敏度和调节极值,确定了重构杆件和杆件参数最优解。搭建了四双足步行平台,分析了平台的重构策略与跨越攀爬策略。样机的行走与越障试验结果表明基于一体化重构闭链腿机构搭建的步行平台在保障整体刚性的同时提高了越障性能。To address the insufficient climbing and obstacle-surmounting performance of traditional closed-chain leg mechanisms,a scaled reconfigurable design of component elements was developed based on the Watt-type closed kinematic chain.An intermittent mechanism was adopted to couple walking power with reconfigurable power,and an integrated reconfigurable closed-chain leg mechanism was proposed.The sensitivity of linkage reconfiguration and the interval of parament adjustment were analyzed,and the optimal solutions for the reconfigurable linkages and their parameters were determined.A four-biped walking platform was built to analyze the platform s reconfigurable strategies and obstacle-surmounting strategies.A prototype was developed,and walking and obstacle-surmounting experiments were conducted for validation.The results indicate that the walking platform constructed on the basis of the integrated reconfigurable closed-chain leg mechanisms,enhances obstacle-surmounting performance while ensuring overall rigidity.

关 键 词：一体化重构 间歇机构 不完全齿轮 闭链腿机构 跨越攀爬策略 

分 类 号：TH112[机械工程—机械设计及理论]