一种新型可变形腿轮机构

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-03-07 DOI:10.1115/1.4057069

Zhong Wei, Peng Ping, Yong Luo, Jia Liu, Dapeng Chen, Weixi Wang, Huiyu Sun, Aiguo Song, G. Song

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引用次数: 0

摘要

提出了一种新型的可变形腿轮机构。它有三个活动关节，其中髋辊关节为直接驱动，髋节关节为齿轮传动，膝关节为同步带传动。所有的执行机构都安装在车身上，尽可能减轻腿轮机构的重量，使腿轮机构的运动受到惯性的影响很小。该机构具有车轮半径大、执行机构体积小的特点。介绍了腿轮机构的设计和运动学建模方法。提出了一种半心形轨迹来规划腿轮机构在腿式运动中的足部运动。为保证运动模式的平稳过渡，设计了过渡策略。仿真和实验结果验证了所提出的腿轮机构的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Novel Transformable Leg-Wheel Mechanism

In this paper, a novel transformable leg-wheel mechanism is proposed. It has three active joints, among which the hip roll joint is directly driven, the hip pitch joint is driven by gear transmission, and the knee joint is driven by synchronous belt transmission. All the actuators are mounted on the body to reduce the weight of the leg-wheel mechanism as possible, so that the motion of the leg-wheel mechanism will be slightly affected by the inertia. The proposed mechanism has two characteristics, big wheel radius and reduced actuators. The design and kinematics modeling methods of the leg-wheel mechanism are described. A half-a-heart shape trajectory is proposed to plan the foot motion of the leg-wheel mechanism in the legged locomotion. To make the locomotion mode transition smooth, the transition strategy is designed. Simulation and experimental results verify the feasibility of the proposed leg-wheel mechanism.

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.