基于MATLAB的行走机构设计及仿真软件的开发

在可视化仿真环境下,根据功能仿生学的方法研究步行机器人行走机构的结构形式,利用优化方法设计出仿正常人踝关节轨迹的行走机构,并进行机构运动和动力特性分析,模拟机构运动过程。结果表明该机构是一种较为理想的步行机器人行走机构。     

履带式管道检测机器人行走机构位姿调整分析

针对管道机器人的管径适应性,通过建立数学模型,分析了管道检测机器人行走机构的运动特性,提出了一种新型的管道检测机器人行走机构位姿调整的机构。基于五连杆机构的运动特性,分别驱动五连杆机构的两个连架杆,从而实现管道机器人行走机构位姿的调整。基于ADAMS仿真软件建立了机器人虚拟样机模型,根据优化分析的结果,对位姿调整机构的杆长进行了修正,使得管道机器人行走机构的位姿调整机构满足设计要求。     

基于踝关节轨迹的行走机构设计仿真研究

这里提出了一种十连杆闭链步行机器人行走机构。建立了机构的数学模型，完成了机构优化设计和机构运动分析，利用计算机仿真技术模拟机构运动，设计分析过程和仿真过程同步显示。结果表明该机构是一种较为理想的步行机器人行走机构。     

阶梯攀爬机器人行走机构的设计与动力学分析

利用曲柄滑块机构传动性能和机构特性,设计了一种新型的适用于攀爬阶梯的机器人行走机构。简要介绍了阶梯攀爬机器人新式行走机构的结构和工作原理,通过建立行走机构数学模型,利用哈密尔顿原理建立了系统的动力学方程;运用机械系统动力学分析软件ADAMS对行走机构进行动态仿真分析,得到关键运动部件的运动规律曲线和动力学分析曲线;结果表明,该行走机构的设计方案具有可行性、合理性、可靠性、正确性和适用性。ADAMS对其复杂结构的仿真准确可靠,反映了各个构件间冲击和扰动产生的动力学响应,为行走机构减震降噪的优化设计提供了重要参数。     

三自由度3－RPS并联机器人操作器的瞬时独立运动分析

讨论了具有三自由度的３－ＲＰＳ并联机器人机构的独立运动及其与机构结构设计的关系。根据这种机构的结构特点，给出了操作平台的输出运动参数的三个运动约束方程，并且建立了三个独立输出运动参数和三个独立运动输入参数之间的一阶速度影响系数矩阵的显式数学模型，分析了机构的独立运动与机构结构设计的关系，并给出了这种机构的操作平台的瞬时运动螺旋的确定方法，为这种机构的运动学特性分析及其机构结构设计提供了简便有效的数学工具     

双足步行机器人结构可视化设计

采用Watt-21型平面六杆机构作为基本的行走机构,探讨了步行机器人行走机构应有的特性,完成了机构的运动分析.同时为了便于分析,利用Pro/E建立了双足步行机器人的三维模型,并在软件中进行了运动仿真.利用计算机的可视化设计技术来修正设计参数.     

三自由度3－RPS并联机器人操作器的瞬时独立运动分析

讨论了具有三自由度的３－ＲＰＳ并联机器人机构的独立运动及其与机构结构设计的关系。根据这种机构的结构特点，给出了操作平台的输出运动参数的三个运动约束方程，并且建立了三个独立输出运动参数和三个独立运动输入参数之间的一阶速度影响系数矩阵的显式数学模型，分析了机构的独立运动与机构结构设计的关系，并给出了这种机构的操作平台的瞬时运动螺旋的确定方法，为这种机构的运动学特性分析及其机构结构设计提供了简便有效的数学工具     

八足机器人行走机构设计及其运动学分析

针对多足机器人在变地形环境下快速行走的问题,对多足机器人的腿部机构与运动模式进行了研究,设计了两种机器人腿部行走机构,即六连杆腿部机构与齿轮传动腿部机构,并基于这两种腿部行走机构组合了一种八足机器人。首先,对八足机器人各腿部行走机构和整体结构进行了设计分析,根据各腿部机构选择适用步态进行了研究,即前后连杆腿的对角步态与中部齿轮腿的单线直行步态;然后,研究了机器人的两种不同腿结构的行走性能,对其进行了运动学分析;最后,整体分析了机器人对角步态和越阶梯两种运动模式,并通过ADAMS软件对机器人两种运动模式进行了运动仿真,将后处理曲线与运动分析进行了对比。研究结果表明:机器人行走具有稳定性,两种运动模式具有可行性。     

连杆式仿生载重步行机的研究

本文提出了一种新的连杆式载重大足履步行机的行走机构,分析了该机构的运动学、力学特性。通过实验模型,验证了这种机构原理。同时,提出了一种用计算机绘制四连杆曲线图谱的新方法。     

斜切工况下采煤机截割机构及行走机构的动力学研究

首先建立了采煤机斜切截煤运动数学模型,围绕斜切工况下采煤机截割机构及行走机构的受力特性进行了研究,对采煤机斜切工况下的行走轨迹,以及作用在截割机构上的力与作用在行走机构上的受力变化进行了仿真分析,以期优化采煤机截割机构和行走机构的结构,提升其工作稳定性和工作效率。     

轮腿式步行机构设计及其运动仿真

基于二级半转机构原理,提出一种新型的轮腿式步行机构,它由一级转臂、二级转臂和跨步杆组成。分析机构中各转动关节的运动耦合关系,并给出机构不发生干涉的条件,在此基础上,利用二级行星轮系实现了该轮腿式步行机构。在CosmosMotion仿真环境下,对该轮腿式步行机构进行了运动仿真,给出机构各关节的运动轨迹曲线,并分析该轮腿式步行机构的车身起伏度。仿真结果表明,基于二级半转机构的轮腿式步行机构的车身垂直起伏度,比一级半转步行机构车身的垂直起伏度小。     

Development of a walking assist machine using crutches (Composition and basic experiments)

This paper proposes a walking assist machine for people with walking difficulties. It has crutches operated by the user and a wearable mechanism generates motion of the leg and foot relative to the upper body. First, a healthy person’s swing-through walking using axillary crutches was measured and kinematically analyzed. Based on the results, a composition of a walking assist machine using crutches (WAMC) was proposed. An Experimental apparatus of WAMC was designed and built. It realized walking with desired constant step length. And it was clarified that error of the step length decreases its walking stability. Then we investigated the relationship between walking stability and parameters of walking motion by dynamic simulations. The desired parameters were determined through the simulations Sensors and switches which convey user’s intentions to WAMC were also designed and attached to the WAMC.     

Development of a “walking drive” ultraprecision positioner

The present paper presents a new mechanism to feed a precision table continuously over a long stroke with high rigidity by utilizing deformations of piezoelectric actuators. A driving method names “walking drive” is employed for the mechanism with which the table is driven in a similar way to the walking motions in animals. A precision feed device is developed, and ultraprecision positioning experiments are carried out by using the device combined with a laser-feedback system developed. It is confirmed that the positioner driven by the walking drive has the following advantages: (1) positioning resolution of 5 nm is realized with a simple control method and a simple mechanism, because of no friction against the feed motion; (2) smooth continuous path control with the following error of less than 10 nm is realized over a long stroke despite short strokes of the piezoelectric actuators; and (3) high stiffness of greater than 350 N/μm is realized in the feed direction.     

基于过程ZMP的双足步行机器椅步态规划

解决了多关节双足步行机器椅行走步态过程稳定性评价与其开环多连杆执行机构的多变量泛函问题.从构造多关节双足步行机器椅行走姿态和过程ZMP(Zero Moment Point,零力矩点)评价考虑,提出了基于优化方法的多关节双足步行机器椅行走步态的离散化模型和方法,实现了基于过程稳定性评价的双足步行机器椅的开环多连杆执行机构行走步态的合理规划.文中提出的离散化模型对求解开环连杆机构的多变量泛函规划问题具有重要的参考价值.     

Kinematic modelling of a robotic gait device for early rehabilitation of walking

Rehabilitation of walking is an essential element in the treatment of incomplete spinal cord injured (SCI) patients. During the early post injury period, patients find it challenging to practice upright walking. Simulating stepping movements in a supine posture may be easier and promote earlier rehabilitation. A robotic orthotic device for early intervention in spinal cord injury that does not require the patient to be in an upright posture has been modelled. The model comprises a two-bar mechanical system that is configured and powered to provide limb kinematics that approximate normal overground walking. The modelling work has been based on gait analysis performed on healthy subjects walking at 50 per cent, 75 per cent, and 100 per cent of normal cadence. Simulated angles of hip, knee, and ankle joints show a comparable range of motion (ROM) to the experimental walking data measured in healthy subjects. The model provides operating parameters for a prospective recumbent gait orthosis that could be used in early walking rehabilitation of incomplete SCI patients.     

基于曲柄摇杆机构的新型六足爬行机器人的设计

六足爬行机器人在理论上可以实现向前向后稳定行走.对驱动足采用了曲柄摇杆机构,将腿放在四杆机构的摇杆上,实现了腿前后摇摆行走.此外,由于是通过连杆曲线图谱选择腿部运动轨迹,从连杆曲线图谱上可以看到,整条曲线都是很平滑的,因此,机器人在行走过程中也会非常稳定,而不至于出现冲击载荷.对六足机器人的行进机构、运动设计与分析、机器人的运动轨迹和六足机器人的控制系统进行了详细阐述.     

一种步行机器人结构分析

在介绍混合输入五杆机构输出轨迹可调的基础上，将混合输入五杆机构用作步行机器人腿部机构来提高其步行能力与柔性；同时将机器人控制系统、元器件、传感器密封在机体中，通过动密封轴传动驱动腿部机构实现步行，从而增强步行机器人的环境适应性。     

下肢助行器结构设计及运动仿真

对用于辅助下肢瘫痪患者重新站立行走的下肢助行器的总体方案及其工作原理进行了设计与分析。根据人机工程学中的人体结构测量及结构几何关系确定了各杆长度。在CATIA中建立了助行器的三维样机模型,通过ADAMS进行了运动仿真分析,得到了助行器的速度、力矩等参数,并与正常人体步态参数比较,验证了机构设计的合理性和方案的可行性。     

Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function.Therefore,Improvement of enhancing capacity and functions of the walking robot is an important research issue.According to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed.The proposed robot can be used for both a biped and a quadruped walking robot.The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized.The results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,respectively.Based on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process.Besides laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.