A New-style Bionic Walking Mechanism and its Motion Simulation
Based on the principle of double-half-revolution mechanism, this paper designed a new-style bionic walking mechanism by using two tandem planetary gear trains,which is composed of one first swiveling arm,one second swiveling arm,two striding rods and mechanism bracket,etc. The first swiveling arm and second swiveling arm are the planet carriers (also as gearbox casings)of the planetary gear trains respectively. On the basis of analysis of interference and motion coupling relationship of joints,noninterference condition of the bionic walking mechanism was obtained. Motion simulation was done in COSMOS Motion software, and the motion path curves of rotating joints of the bionic walking mechanism were obtained. Simulation shows that the fluctuation of the bionic walking mechanism is small and it meets the mobility of exploration.
bionic walking mechanism double-half-revolution mechanism interference analysis motion simulation fluctuation
Yongming Wang Xiaoliu Yu Ronghai Chi Wencheng Tang
School of Mechanical Engineering Southeast University Nanjing,China School of Mechanical Engineering School of Mechanical Engineering Anhui University of Technology Maanshan, China State Key Laborator School of Mechanical Engineering Anhui University of Technology Maanshan, China School of Mechanical Engineering Southeast University Nanjing,China
国际会议
长沙
英文
941-944
2009-10-10（万方平台首次上网日期，不代表论文的发表时间）