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  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2015, Vol. 51 ›› Issue (13): 125-130.doi: 10.3901/JME.2015.13.125

• 机构学及机器人学研究进展——纪念张启先院士诞辰九十周年专辑 • 上一篇    下一篇

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地面移动Altmann连杆机构

刘超1, 2, 王皓2, 姚燕安1   

  1. 1.北京交通大学机械与电子控制工程学院;
    2.上海交通大学机械系统与振动国家重点实验室
  • 出版日期:2015-07-05 发布日期:2015-07-05
  • 基金资助:
    国家自然科学基金(51175030)、中国博士后科学基金(2013M531168)、北京交通大学人才基金(2015RC047)和高等学校博士学科点专项科研基金(20130009110030)资助项目

Ground Mobile Altmann Linkage

LIU Chao1, 2, WANG Hao2, YAO Yanan1   

  1. 1.School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University;
    2.State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University
  • Online:2015-07-05 Published:2015-07-05

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摘要： 提出Altmann连杆机构的一个新用途，将其用来作为地面移动机构，以翻跟斗步态实现沿直线的行走运动，并通过自身扭动与整体反转的步态实现转向运动。提出地面移动Altmann连杆机构的设计概念和构型方案。分析地面移动Altmann连杆机构的移动原理，包括利用奇异位形来实现机构的转向运动。规划出直行和转向两种移动步态。分析两种步态的移动轨迹，并计算两种移动步态的关键参数。研究结果表明，通过对直行和转向两种步态的切换控制，可以使Altmann地面移动连杆机构以固定的步长，从平面上一个初始点移动到另一个目标点。该地面移动连杆机构基于空间单闭链六杆机构，结构简单，刚度好，同时具有良好的折叠特性，便于存储和运输。

关键词: Altmann机构, 地面移动机构, 空间6R机构

Abstract: A novel application of the Altmann linkage is presented and used as a novel ground mobile mechanism. It can move in straight by tumbling and turn by twisting and inverting. The design concept of the ground mobile Altamann linkage is proposed. The motion principle of this proposed ground mobile Altmann linkage is analyzed. By taking advantage of the singular configuration of the mechanism, the control of turning can be achieved. The gaits of the moving in straight and the turning are planned. The locomotion tracts of the two gaits are analyzed respectively, and the analysis of the key parameters is performed. The results of the research prove that the ground mobile Altmann linkage can move from an initial point to a target point in a plane by the switch control of the straight and the turning gaits. This ground mobile linkage has simple structure, good rigidity due to it is a spatial single-loop linkage. And it is easy to store and transport due to it has good folding ability.

Key words: Altmann linkage, ground mobile mechanism, spatial 6R linkage

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