基于半转机构的类两足步行机构相对运动空间分析

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The Biped-Imitating Walking Mechanism （BIWM） based on Half-Rotating Mechanism （HRM） is a new walking mechanism with only one degree, which is particularly applicable to mobile system of walking vehicle. In order to precisely design the structure of walking vehicle body, it is necessary to get the sweeping rule of BIWM during rtmning that is different from traditional walking mechanism. The basic structure and walking principle of BIWM were firstly introduced in detail. Taking vehicle body as reference system, the external contours of main components, including first-level rotating arm, second -level rotating arm, leg and bending position rod were further proposed. The relative movement volume of BIWM was finally presented by synthesizing the above external contours and their distribution along shaft axes. The research results are helpful to precisely design the body of walldng vehicle using BIWM and avoid the interference between BIWM and vehicle body.基于半转机构的类两足步行机构是一种新型单自由度行走机构，适用于步行车的移动系统。针对类两足步行机构运行过程中有着不同于传统腿式步行机构的扫略规律，在给出类两足步行机构基本构型和行走原理的基础上，以机架为参考系，解析一级转臂、二级转臂、腿杆和弯头定位杆等重要组件在运动过程中外轮廓形成规律，综合获得类两足步行机构相对运动空间。研究结果为防止步行车行走机构与机身发生干涉、以及实现步行车相关结构精准化设计奠定理论基础。