Mechanical Design of Dexterous Bionic Leg with Single-DOF Planar Linkage

摘要

In view of the shortcomings of the current robot bionic legs with multi-degrees of freedom, complex electromechanical system, inefficiency, high cost, excessive reliance on sensors and algorithms to achieve coordinated motion control. Based on the comprehensive analysis of the evolution trend of robot bionic legs at home and abroad, the concept and design principles of smart dexterous legged legs with single degree of freedom are proposed. Explore how to achieve complex leg movements through agile and efficient mechanical mechanism design. Robot bionic legs with single degree of freedom which are belong to multi links are studied from 4 bars, 6 bars to 8 bars, and topological graph and kinematic chain of the 8 bars with single degree of freedom is given. Through theoretical analysis, virtual prototype simulation and real prototype experiment, the feasibility and superiority of the 8- bar bionic leg with single DOF are verified.