仿生双足水上行走机器人行走机构的运动学分析及参数化设计

摘要

A walking mechanism of bionic biped water -walking robot is designed; educing the equations of the location, velocity, and acceleration of two feet mass sports center. To simulate the foot trajectory of basilisk lizard's, the foot rod and the horizontal plane angle curve is taken as the objective of parameter design, and the influences of the foot rod bar length change to the foot rid and the horizontal plane angle is analyzed through the software. The walking mechanism is parametric designed by analyzing the influential factors of sensitivity. Finally the parametric designed mechanism is simulated, and the simulation results show that the movement of this bionic walking mechanism can meet the basilisk lizards 'foot trajectory.%设计了仿生双足水上行走机器人行走机构,通过运动学分析导出了两脚掌质心的运动轨迹方程、速度及加速度方程；以模拟蛇怪蜥蜴脚掌的运动轨迹为目标,以脚杆与水平面的夹角曲线作为目标进行参数化设计,通过软件分析得到了各部分杆长变化对脚杆与水平面的夹角的影响,经过分析影响因素的敏感度,对机构进行参数化设计.最后对参数化设计的机构进行仿真分析,仿真结果表明,该仿生机构脚杆的运动能够满足蛇怪蜥蜴脚掌的运动轨迹.