Design of Scale-changeable Pantograph Legs for Heavy-duty Robots

doi:10.3969/j.issn.1004-132X.2025.02.001

Abstract

Abstract: The motion characteristics of the 2 DOF(degree-of-freedom) scale-changeable pantograph leg mechanisms were analyzed, different designs for scale change were compared. A scale-changeable pantograph leg with a nonlinear length adjustment mechanisms was proposed. The length of the thigh and shank link could be adjusted with a single driver according to the nonlinear proportion relation. Thus, the scale could be changed while preserving the pantograph mechanism properties. The scale-changeable pantograph leg may change the scale without disassembling, adjust the foot working space and the carrying capacity of the robots.

Key words: heavy-duty legged robot, legged locomotion device, scale-changeable pantograph leg, nonlinear length adjustment mechanism

摘要： 分析了二自由度比例缩放机构的运动特性，对比了多种变缩放比例设计方案及其优缺点，提出了一种变缩放比例腿，设计了非线性腿长调整机构，仅用一个驱动器即可实现大腿杆和小腿杆的长度按照非线性比例关系进行调整，进而在保证缩放特性的同时实现了缩放比例的调整。变缩放比例腿无需进行拆卸和更换零部件即可完成缩放比例的调整，改变了足端运动空间和机器人的承载能力。

关键词: 重载足式机器人, 腿足行走装置, 变缩放比例腿, 非线性长度调整机构

CLC Number:

TP242

SUO Zhe, LI Xiang, LIU Jianfeng, WANG Jixin. Design of Scale-changeable Pantograph Legs for Heavy-duty Robots[J]. China Mechanical Engineering, 2025, 36(02): 191-196.

索喆, 李想, 刘建峰, 王继新. 重载足式机器人变缩放比例腿设计[J]. 中国机械工程, 2025, 36(02): 191-196.

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