Design and Analysis of a Novel Reconfigurable Closed-Chain Robot Leg

摘要

In order to solve the problem of fixed foot trajectory of closed-chain robot leg mechanism, a new reconfigurable closed-chain robot leg is designed. In the case of maintaining the characteristics of the closed-loop kinematic chain, the composite hinge is introduced, and the general eight-bar kinematic chain is locally contracted to obtain a simplified eight-bar kinematic chain. The leg mechanism of the robot is designed with one of the basic configurations. Based on the single-degree-of-freedom mechanism, a regulating motor is added to transform the single-crank structure into a double-crank structure, and the foot trajectory is changed by adjusting the crank angle, so that the single-degree-of-freedom robot leg can be reconfigured. The leg mechanism is designed and the virtual prototype is built. The walking simulation analysis of typical ground environment is carried out by using ADAMS software. On this basis, the single leg physical model is made and the bench test is carried out to verify the correctness of the theoretical method and the reliability of the reconfigurable mechanism.