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Analysis and experiment of thrust-propelled closed-chain legged platform with passive locomotion ability
Mechanism and Machine Theory ( IF 5.2 ) Pub Date : 2021-08-14 , DOI: 10.1016/j.mechmachtheory.2021.104506
Chaoran Wei 1 , Hongzhe Sun 1 , Ran Liu 2 , Yan-an Yao 1 , Jianxu Wu 3 , Yang Liu 1 , Yingxiang Lu 1
Affiliation  

Current research concerning passive locomotion ability primarily focuses on open-chain legged platforms to enhance energy efficiency and walking stability. However, closed-chain legged platform with single degree of freedom (DOF) mechanism has the advantages of rotational driving property, control simplicity and payload capability. To further reduce dependence on ground friction and improve walking efficiency, a closed-chain passive-locomotion legged platform (CPLP) is proposed. First, the leg mechanism is analysed based on kinematic analysis, and three different types of leg groups are proposed as mathematical examples, after which the dimensional parameters are optimized. Then, walking period, walking critical conditions on horizontal ground are analysed based on zero moment point (ZMP) principle to quantitatively analyze the optimal leg group layout. Moreover, the critical conditions of passive locomotion ability are analysed and then verified by dynamic simulations. Finally, a series of experiments are conducted to verify the performance of the CPLP. This study of passive locomotion ability contributes to a high-efficiency thrust-propelled method of closed-chain legged platform.



中文翻译:

具有被动运动能力的推力推进闭链腿平台分析与试验

目前关于被动运动能力的研究主要集中在开链腿平台上,以提高能源效率和行走稳定性。然而,具有单自由度(DOF)机构的闭链腿式平台具有旋转驱动性能、控制简单和有效载荷能力等优点。为了进一步减少对地面摩擦的依赖并提高步行效率,提出了一种闭链被动运动腿式平台(CPLP)。首先,基于运动学分析对腿机构进行分析,并提出三种不同类型的腿组作为数学示例,然后优化尺寸参数。然后,步行期间,基于零力矩点(ZMP)原理分析水平地面行走临界条件,定量分析最优腿组布局。此外,分析了被动运动能力的临界条件,然后通过动态模拟进行了验证。最后,进行了一系列实验来验证 CPLP 的性能。这项被动运动能力的研究有助于闭链腿平台的高效推力推进方法。

更新日期:2021-08-15
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