机械科学与技术2018，Vol.37Issue(3)：372-379,8.DOI:10.13433/j.cnki.1003-8728.2018.0307
一种新型弹性足式机器人腿部结构设计与分析
Design and Analysis of a Novel Elastic Robot Leg
摘要
Abstract
A novel method of elastic robot leg hybrid design was proposed.A new kind of robot leg called LCS (Linkage cable-drive spring) leg was presented,whose structure is simple but possesses excellent motion performance and strong impact resistance ability.The LCS leg was designed by adopting an elastic linkage and cable-drive system,which improves the leg's reaction rate and vibration impact resistance performance.The kinematic model of the leg was built based on the complex vector and Denavit-Hartenberg method;then the motion envelope domains were solved to verify the leg's obstacle overcoming performance.A single leg simulation platform was designed.The simulation of two kinds of robotic legs were carried out on the platform,and the CoM displacement of body,forward velocity and impact force were tested and analyzed to prove the motion performance.Through making the single leg walking experiments on the platform,the validity of the design method is verified,and the overall structural design of LCS robotic leg was carried out.关键词
足式机器人/弹性连杆机构/线驱动系统/实验平台/LCS-Leg/MATLABKey words
robotic leg/elastic linkage/cable-drive system/experimental platform/LCS leg/MATLAB分类
机械制造引用本文复制引用
任灏宇,李奇敏,蒋建新..一种新型弹性足式机器人腿部结构设计与分析[J].机械科学与技术,2018,37(3):372-379,8.基金项目
国家自然科学基金项目(61473051)与重庆市研究生科研创新项目(CYS17022)资助 （61473051）
