液压驱动四足机器人机械结构设计.pdf

文档介绍：机械设计与制造
第 10 期
176 Machinery Design & Manufacture 2010 年 10 月
文章编号:1001-3997(2010)10-0176-03
液压驱动四足机器人机械结构设计*
朱学彪
(武汉科技大学机械自动化学院,武汉 430081)
Test and analysis on hydraulic system’s signal of straightening machine
ZHU Xue-biao
(College of Machinery and Automation,Wuhan University of Science and Technology,Wuhan 430081,China)


摘要液压驱动四足步行机器人关节较多结构复杂,采用结构与功能仿生的方式
,实现了四足步

【】、

行机器人机械结构的总体设计。从步行机器人运动速度、越障能力、足端运动空间以及灵活性等方面分析了



腿节长度对步行机构的影响,分析了机体结构设计与步行机器人运动稳定型、角度规划之间的关系,综合优

选出较为合理的四足步行机器人结构参数

。

关键词:机器人;结构设计;腿节长度



【Abstract】The structure of quadruped walking robot which is driven by hydraulic cylinder has been



designed by using of functional bionic method and structural bionic method because of plex node.

The influence of leg mechanism’s length on walking mechanism was illuminated from four different aspects:



the velocity of movement,the capacity ing the obstacle,the workspace of the foot and the flexibility

,

of walking the same time it analyzed the relation between structural design of body and stability of

walking robot and the angle planning of joints,and find out the reasonable mechanism parameters after



optimization.

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