4U平行四边形机构的一类新用途——整体设计为两足步行机构

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苗志怀, 姚燕安, 田耀斌. 4U平行四边形机构的一类新用途——整体设计为两足步行机构[J]. 机器人, 2011, 33(4): 394-404.. MIAO Zhihuai, YAO Yan’an, TIAN Yaobin. A Type of Novel Usage of 4U Parallelogram Mechanisms——Designed as a Whole to Be Biped Walking Mechanism. ROBOT, 2011, 33(4): 394-404..

摘要提出了将4U平行四边形机构整体设计为两足步行机构的一类新用途．此类两足步行4U平行四边形机构均由4个构件和4个万向铰组成，能够实现平面运动．根据万向铰布置方式的不同，分为3种构型．在针对构型Ⅰ的前期研究基础之上，应用螺旋理论分析了构型Ⅱ和Ⅲ的自由度，并分别对其进行了运动学分析、步态分析和稳定性分析．此外，还将3种构型的性能与应用作了进一步的分析与比较．运用ADAMS软件建立3种构型的动力学模型，仿真其运动的全过程，验证该类构型及其运动的可行性．制作出2台样机，实现了预期的运动．

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	苗志怀
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关键词 ：平行四边形机构, 步行机构, 螺旋理论

Abstract：A type of novel usage,4U parallelogram mechanism designed as a whole to be biped walking mechanism, is proposed.Each of the biped walking 4U parallelogram mechanisms in the category is composed of four mechanical members and four universal joints,and planar movements can be accomplished.Three kinds of configurations are classified according to different combination manners of universal joints.Based on a preliminary study of the configurationⅠ,the degrees of freedom of configurationⅡandⅢare obtained by screw theory.Kinematic analysis,gait analysis and stability analysis are carried out for the two configurations respectively.Moreover,the performance and application of the three kinds of configurations are further analyzed and compared.In order to prove the feasibility of the three kinds of configurations and their motions,their dynamics models of configurations are established and the whole motion periods are simulated with ADAMS.Two prototypes are manufactured and the desired motions are realized.

Key words： parallelogram mechanism walking mechanism screw theory

收稿日期: 2010-10-15 录用日期: 2011-06-22

:	TH112
	TP242

基金资助:国家自然科学基金资助项目（50875018）；教育部新世纪优秀人才基金资助项目（NCET-07-0063）；北京市自然科学基金资助项目（3093025）；北京交通大学基本科研业务费项目（2009JBZ001-1）

通讯作者: 姚燕安 E-mail: yayao@bjtu.edu.cn

作者简介: 苗志怀（1978- ），男，博士生．研究领域：机器人学．
姚燕安（1972- ），男，教授，博士生导师．研究领域：机构与机器人学．
田耀斌（1986- ），男，博士生．研究领域：机器人学．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I4/394

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