科创中国

原文链接：万方

• 摘要：

  Existing biped robots mainly fall into two categories: robots with left and right feet and robots with upper and lower feet. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. To improve the load carrying capability, a novel biped walking robot is proposed based on a 2-UPU+2-UU parallel mechanism. The biped walking robot is composed of two identical platforms(feet) and four limbs, including two UPU(universal-prismatic-universal serial chain) limbs and two UU limbs. To enhance its terrain adaptability like articulated vehicles, the two feet of the biped walking robot are designed as two vehicles in detail. The conditions that the geometric parameters of the feet must satisfy are discussed. The degrees-of-freedom of the mechanism is analyzed by using screw theory. Gait analysis, kinematic analysis and stability analysis of the mechanism are carried out to verify the structural design parameters. The simulation results validate the feasibility of walking on rugged terrain. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Due to its unique feet design and high stiffness, the biped walking robot may adapt to rugged terrain and is suitable for load-carrying.

• 关键词：

  parallel mechanism biped robot screw theory gait analysis

• 作者单位：

  School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China%School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, EH14 4AS, UK

• 基金项目：

  National Natural Science Foundation of China(Grant51175030)%Fundamental Research Funds for the Central Universities of China(Grant2012JBZ002)

• 来源期刊：

  中国机械工程学报

• 年，卷(期)：

  201427002