Structure Design and Analysis of A Hexapod Mechanism Walking Leg

Zhang Jiulei

doi:10.16578/j.issn.1004.2539.2015.08.020

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Structure Design and Analysis of A Hexapod Mechanism Walking Leg

更新时间：2022-10-20

- Structure Design and Analysis of A Hexapod Mechanism Walking Leg
- Vol. 39, Issue 8, Pages: 85-88(2015)
- 作者机构：
  
  1. 罗定职业技术学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.08.020
  CLC：
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[1]张久雷.六足步行机构步行腿的结构设计与分析[J].机械传动,2015,39(08):85-88.

Zhang Jiulei. Structure Design and Analysis of A Hexapod Mechanism Walking Leg. [J]. 39(8):85-88(2015)
[1]张久雷.六足步行机构步行腿的结构设计与分析[J].机械传动,2015,39(08):85-88. DOI： 10.16578/j.issn.1004.2539.2015.08.020.

Zhang Jiulei. Structure Design and Analysis of A Hexapod Mechanism Walking Leg. [J]. 39(8):85-88(2015) DOI： 10.16578/j.issn.1004.2539.2015.08.020.

摘要

采用曲柄连杆机构和液压驱动相结合的方法设计开发了一种六足步行机构,并对步行腿机构进行了分析。建立了步行腿机构力学模型,进行了步行腿运动学、动力学分析,以及步行腿液压系统器件的设计计算选择,理清了步行机构运动状态与各腿之间的关系,为六足机器人的进一步步态规划与控制系统设计提供了依据。

Abstract

Based on the crank link mechanism and hydraulic drive,a hexapod walking mechanism is designed and developed. The walking leg mechanism is analyzed and its mechanics model is built. The kinematics and dynamics of this walking leg are analyzed,and the devices of the hydraulic system for walking mechanism are calculated and selected. The motion relationship between hexapod walking mechanism and walking leg is determined,a reference value for in- depth research and design of gait planning and control system in hexapod robot is provided.

关键词

曲柄连杆机构液压六足步行腿

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School of Mechanical and Power Engineering,North University of China

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