Please wait a minute...
吉林化工学院学报, 2019, 36(7): 36-39     https://doi.org/10.16039/j.cnki.cn22-1249.2019.07.008
  本期目录 | 过刊浏览 | 高级检索 |
气动柔性关节六足机器人腿关节提升机构设计与仿真
刘齐,孙国栋
北华大学 机械工程学院
Design and Simulation of Leg Joint Lifting Mechanism of Pneumatic Flexible Joint Hexapod Robot
LIU Qi, SUN Guodong
下载:  PDF (2338KB) 
输出:  BibTeX | EndNote (RIS)      
摘要 

针对气动柔性关机六足机器人腿部关节提升高度小,越障能力差的问题,设计了一种基于平行四杆机构的腿关节提升机构。搭建了运动学实验平台,并对样机进行运动学实验研究。实验结果表明:该提升机构能够有效的将腿部关节提升高度增加19mm,使机器人越障能力扩大为原来的1.63倍,为气动柔性关节六足机器人的研究奠定了基础。

服务
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章
刘齐
孙国栋
关键词:  柔性关节  六足机器人  提升机构     
Abstract: 

Aiming at the problem that the pneumatic flexible shutdown hexapod robot has low leg joint lifting height and poor obstacle crossing ability, a leg joint lifting mechanism based on parallel four-bar mechanism is designed. We built a kinematics experiment platform and carried out kinematics experiment research on the prototype. The experimental results show that the lifting mechanism can effectively increase the height of leg joints by 19 mm, which enlarges the obstacle-surmounting ability of the robot to 1.63 times that of the original, and lays a foundation for the research of the pneumatic flexible joint hexapod robot.

 

Key words:  flexible joint    hexapod robot    lifting mechanism
               出版日期:  2019-07-25      发布日期:  2019-07-25      整期出版日期:  2019-07-25
TH138.5  
引用本文:    
刘齐, 孙国栋. 气动柔性关节六足机器人腿关节提升机构设计与仿真 [J]. 吉林化工学院学报, 2019, 36(7): 36-39.
LIU Qi, SUN Guodong. Design and Simulation of Leg Joint Lifting Mechanism of Pneumatic Flexible Joint Hexapod Robot . Journal of Jilin Institute of Chemical Technology, 2019, 36(7): 36-39.
链接本文:  
https://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2019.07.008  或          https://xuebao.jlict.edu.cn/CN/Y2019/V36/I7/36
[1] 梁正, 裴怡杰. 基于实验方法的硅胶圆管柔性关节静力学研究 [J]. 吉林化工学院学报, 2021, 38(3): 52-56.
[2] 刘洪波, 刘 齐. 气动空间弯曲柔性关节静力学实验研究[J]. 吉林化工学院学报, 2018, 35(3): 36-39.
[3] 刘荣辉, 耿德旭, 刘 齐. 气动柔性关节六足机器人结构设计与步态实验[J]. 吉林化工学院学报, 2018, 35(1): 23-27.
[1] WANG Ya-hong, JIA Ying-chao. Optimization for Soxhlet Extraction of Total Flavonoids from Eggplant Root by Using Response Surface Methodology[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 1 -6 .
[2] SUN Xiao-feng, YU Wen-xin, ZHU Ming-wei, JIE Meng, JIANG De-lon. Research on the Piezoelectric Pump Application in Continuous Ink Supply System of the Inkjet Printer[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 15 -18 .
[3] LV Xue-fei, LIU Shuang, GAN Shu-kun. New Technology of Compound Rare Earth Salt Conversion on Copper Alloy Surface[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 19 -22 .
[4] ZHOU Zhen-qiang, WANG Kai-bao, CHEN Yu-tian, HAN Ji, HOU Dai-bing, GUO Wen-qi. Analysis of the Design and Dynamic Characteristics of Recyclable Garbage Crushing Device[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 31 -35 .
[5] LIU Hong-bo, LIU Qi. Experimental Study on Pneumatic Space Bending Flexible Joint[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 36 -39 .
[6] ZHU Qi-rui, ZHANG Yu-feng, LI Yang-xin, WU Dong-jun, BI Shuai-nan, ZHOU Rui-jie, YOU Sai-sai. The Structural Design and Parameter Analysis of the Chair Structure of Quadriplegia of Cerebral Palsy[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 40 -44 .
[7] WU Dong-jun, ZHANG Yu-feng, ZHOU Rui-jie, LIU Hong-liang, ZI Tian-cheng. Research on the Design of Coastal Beach Cleaning Vehicles[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 45 -47 .
[8] ZHANG Peng. Development on Database of Rubber Bladder Forming Process Parameters[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 78 -82 .
[9] BAI Xue, BAI Yong-guo, DING Wen-hao. Internet +720° Panoramic Image Display Platform Design and Implementation[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(3): 83 -86 .
[10] ZENG Xiao-dan, JIANG Cheng, XI Hao, ZHU Lin. The Study of Determination of Carbon Tetrachloride Divergence in the Chlorosulfonated Polyethylene (CSM) Production Process[J]. Journal of Jilin Institute of Chemical Technology, 2018, 35(1): 8 -12 .
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed