四足步行机器人中缩放式腿机构设计参数的选择

Selection of Design Parameters of Pantograph Leg Mechanism in Quadruped Walking Robot

摘要: 为了研制实用的缩放式四足步行机器,本文对在三维直角坐标系中用三个直线运动来实现足端空间运动的缩放式腿机构的运动空间进行了分析。用优化的方法得出了K₂=1和K₁越大越好的结论;并给出了较优的运动行程和驱动器的安放位置。

Abstract: This paper analyzes the motion space of pantograph leg mechanism in order todesign and manufacture a quadruped walking robot.We get the space motion of legwith three rectilineal motion in Cartesian coordinates.The paper gives the conclusionthat K₂=1 and K₁（>1）should be as large as possible,and gives also three optimizingmotion distance and loction of each actuator with optimizing methods.