基于仿生研究的步行机缓冲型腿机构设计

基于仿生研究成果设计出一种含有弹性元件的缓冲型腿机构，分析其工作原理和参数选择原则，具有结构简单、性能可靠的优点．对比分析了几种设计方案的刚度随着压缩量的变化情况．这种具有非线性刚度变化的腿机构初步解决丁机器人在动态行走时的冲击以及由此产生的振动，使机器人在高速行走时得到缓冲并达到节能，提高了机器人的能效，从而得到一种适合于动态步行机器人的缓冲型腿机构．这种腿机构不仅适用于实现动态行走的四足步行机器人，也可适用于高速步行下的多足机器人。

Design of fionic-based buffering leg mechanism for walking robots

Ground impact on the robot will occur during its dynamic walking. An effective way to reduce the ground impact is to design a buffering leg mechanism. A buffering leg mechanism characterized by its simple structure and reliable function, including elastic element based on bionic research, which is equivalent to a virtual spring leg with nonlinear stiffness, was presented. Its working and parameter selecting principles were analyzed. Several designs were also compared by examining how the stiffness of the virtual spring changes as it is compressed. This leg mechanism featured by its nonlinear stiffness would solve the problems caused by the ground impact, so the robot will be buffered and save energy when it walks at a high speed. In this way the energy efficiency of the walking robot is improved, and a buffering leg mechanism applied to the dynamic walking robot is achieved. This leg mechanism not only applies to the dynamic walking quadruped, but also applies to the multi-legged robot walking at a high speed.