Design and Obstacle-surmounting Performance Analysis of an Integrated Reconfigurable Closed-chain Leg Mechanism

doi:10.3969/j.issn.1004-132X.2025.01.005

Abstract

Abstract: To address the insufficient climbing and obstacle-surmounting performance of traditional closed-chain leg mechanisms, a scaled reconfigurable design of component elements was developed based on the Watt-type closed kinematic chain. An intermittent mechanism was adopted to couple walking power with reconfigurable power, and an integrated reconfigurable closed-chain leg mechanism was proposed. The sensitivity of linkage reconfiguration and the interval of parament adjustment were analyzed, and the optimal solutions for the reconfigurable linkages and their parameters were determined. A four-biped walking platform was built to analyze the platforms reconfigurable strategies and obstacle-surmounting strategies. A prototype was developed, and walking and obstacle-surmounting experiments were conducted for validation. The results indicate that the walking platform constructed on the basis of the integrated reconfigurable closed-chain leg mechanisms, enhances obstacle-surmounting performance while ensuring overall rigidity.

Key words: integrated reconfigurable, intermittent mechanism, incomplete gear, closed-chain leg mechanism, climbing strategy

摘要： 为解决传统闭链腿机构攀爬越障性能不足的问题，基于Watt型闭式运动链开展了构件元的尺度重构设计，采用间歇机构耦合行走动力与重构动力，设计了一体化重构闭链腿机构。分析了杆件的重构灵敏度和调节极值，确定了重构杆件和杆件参数最优解。搭建了四双足步行平台，分析了平台的重构策略与跨越攀爬策略。样机的行走与越障试验结果表明基于一体化重构闭链腿机构搭建的步行平台在保障整体刚性的同时提高了越障性能。

关键词: 一体化重构, 间歇机构, 不完全齿轮, 闭链腿机构, 跨越攀爬策略

CLC Number:

TH112

ZHAO Shunqing1, WENG Mingze2, WU Jianxu1, YAO Yanan1. Design and Obstacle-surmounting Performance Analysis of an Integrated Reconfigurable Closed-chain Leg Mechanism[J]. China Mechanical Engineering, 2025, 36(01): 47-58.

赵顺卿1, 翁铭泽2, 武建昫1, 姚燕安1. 一体化重构闭链腿机构的设计与越障性能分析[J]. 中国机械工程, 2025, 36(01): 47-58.

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