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基于张拉整体结构仿生足式机构的设计与分析
Authors
吕家乐
孙建伟
+3 more
孙金荣
宋广生
李晓东
Publication date
1 January 2022
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
传统足式机器人在复杂地形上自适应行走方面存在着机构柔性不足。基于张拉整体结构与人体肌肉骨骼系统相似性,提出了一种仿生张拉足式机构,用于提升传统足式机器人自适应地形和稳定锁紧性能。通过张拉单元匹配建立了类似人体足部的张拉整体结构等效映射模型;采用仿生设计方法实现了机构构型设计;制作了物理样件并搭建了实验平台。结果表明,提出的仿生足式机构具有较好的柔性和稳定性,提升了传统足式机器人斜坡地形的自适应稳定行走能力
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Last time updated on 06/04/2023