Design and Analysis of Closed-Linked Eight-Link Foot Robot with Composite Hinges

Hao Zhang; Jianjun Qin; Xingjie Liu; Lei Jiang

doi:10.16578/j.issn.1004.2539.2022.04.019

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Design and Analysis of Closed-Linked Eight-Link Foot Robot with Composite Hinges

Design· Calculation | 更新时间：2022-09-25

- Design and Analysis of Closed-Linked Eight-Link Foot Robot with Composite Hinges
- Journal of Mechanical Transmission Vol. 46, Issue 4, Pages: 135-142(2022)
- 作者机构：
  
  1.北京建筑大学机电与车辆工程学院，北京 100044
  2.北京建筑大学城市轨道交通车辆服役性能保障北京市重点实验室，北京 100044
  3.中国北方车辆研究所，北京 100072
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.04.019
  CLC：
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张昊,秦建军,刘兴杰等.含有复合铰链的闭链八连杆足式机器人设计与分析[J].机械传动,2022,46(04):135-142.

Zhang Hao,Qin Jianjun,Liu Xingjie,et al.Design and Analysis of Closed-Linked Eight-Link Foot Robot with Composite Hinges[J].Journal of Mechanical Transmission,2022,46(04):135-142.
张昊,秦建军,刘兴杰等.含有复合铰链的闭链八连杆足式机器人设计与分析[J].机械传动,2022,46(04):135-142. DOI： 10.16578/j.issn.1004.2539.2022.04.019.

Zhang Hao,Qin Jianjun,Liu Xingjie,et al.Design and Analysis of Closed-Linked Eight-Link Foot Robot with Composite Hinges[J].Journal of Mechanical Transmission,2022,46(04):135-142. DOI： 10.16578/j.issn.1004.2539.2022.04.019.

摘要

针对八连杆机器人腿部构型数学模型参数多和建模分层复杂的不足，提出了一种含有复合铰链的最简八连杆腿部机构。在保持闭环运动链特性的情况下，对一般八杆运动链进行局部收缩，得到了最简八杆运动链；以其中一种最简八连杆机构为基础构型，进行了机器人腿部机构设计。采用末端轨迹曲线任务点法对腿部构型进行尺寸计算，并利用矢量环法对确定参数的腿部机构进行了运动学分析。建立机器人整机仿真模型，基于Adams软件，采用对角小跑步态进行了典型地面环境的行走仿真分析。在此基础上搭建一台样机，在实际路面上进行适应性行走测试，验证了该构型的可行性，同时证实了最简八连杆机构数学参数少和分层简单的优点。

Abstract

In view of the complexity of parameters and modeling stratification of the eight-link robot leg configuration mathematical model，a simplest eight-link leg mechanism with composite hinges is proposed. Maintaining the characteristics of the closed-loop kinematic chain，the simplest eight-bar kinematic chain is obtained by local contraction of the general eight-bar kinematic chain，and the robot leg mechanism is designed based on one of the simplest eight-bar linkage mechanisms. The end trajectory curve task point method is used to calculate the size of the leg configuration and the vector ring method is used to carry out the kinematic analysis of the leg mechanism with determined parameters. A simulation model of the robot is established，and a walking simulation analysis of typical ground environment is carried out based on Adams software. On this basis，a prototype is built，and an adaptive walking test is carried out on the actual road，which verifies the feasibility of this configuration. At the same time，it confirms the advantages of the simplest eight-link mechanism with less mathematical parameters and simpler stratification.

关键词

八连杆腿部构型足端轨迹运动学分析Adams

Keywords

Eight-link leg configurationFoot trajectoryKinematic analysisAdams

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