一种单动力三杆两足移动机构

详细信息

A Biped Mobile Mechanism with Three Links Driven by One Actuator

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China

摘要: 提出一种新概念移动机构．其机器人特征为具有两个足，能够两足接地实现类似步行的步态．其机构学特性为：是一种开链串联三杆机构；由3个机件和2个转动副组成；具有2个自由度；仅用一个动力机进行驱动，是一种欠驱动机构．进行了步态分析，并通过计算机仿真进行了验证．进行了稳定性分析，并对该两足移动机构的概念进行了拓展．制作了两台样机，实现了期望的移动．
- 两足机构 /
- 开链机构 /
- 欠驱动机构
Abstract: A novel mobile mechanism is proposed.Its robotic feature is that it has two feet and is able to perform a gait similar to walk with its feet touching the ground.Its mechanism characteristics include:it is an open chain serial mechanism with three links;it consists of three mechanical units and two revolute joints;it has two degrees of freedom;and it is an underactuated mechanism driven by only one actuator.Gait analysis is carried out and computer simulation is performed to verify its feasibility.Then stability analysis is carried out and the concept of this mobile mechanism is extended.Two prototypes are manufactured and the desired motion is realized.
- biped mechanism /
- open chain mechanism /
- underactuated mechanism

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