WO2023024372A1 - 一种行走平稳的仿人双足腿机构 - Google Patents

一种行走平稳的仿人双足腿机构 Download PDF

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Publication number
WO2023024372A1
WO2023024372A1 PCT/CN2021/141920 CN2021141920W WO2023024372A1 WO 2023024372 A1 WO2023024372 A1 WO 2023024372A1 CN 2021141920 W CN2021141920 W CN 2021141920W WO 2023024372 A1 WO2023024372 A1 WO 2023024372A1
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connecting rod
leg
rod
crank
curve
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PCT/CN2021/141920
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English (en)
French (fr)
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詹葵华
邱梓衔
陆裕豪
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苏州大学
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Publication of WO2023024372A1 publication Critical patent/WO2023024372A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Definitions

  • the invention relates to the technical field of mechanical automation, in particular to a humanoid biped leg mechanism with stable walking.
  • the humanoid walking leg mechanism needs to realize the isochronous alternation of biped support and swing.
  • the landing foot moves along an approximately straight line
  • the swing phase the swinging foot moves along a curved line.
  • the shell-shaped curve composed of a section of approximate straight line and curved line becomes the target trajectory of the foot movement of the ground walking leg mechanism.
  • the generation mechanism of this type of trajectory is represented by the Hawken mechanism proposed in 1926.
  • Hawken mechanism has become the classic design of single-degree-of-freedom leg mechanism due to its simple structure. Based on this, the development of robot leg mechanism for adaptive walking on rough roads has become an important direction of biped robot mechanism design.
  • the shell-shaped connecting rod curve generated by the Hawken mechanism has a very small error in approximating a straight line, but because there is no point close to the high order of the straight line, as a human foot trajectory curve, there is an extra impact between the foot on the ground and the ground, thus Affects the stability of the body support.
  • the technical problem to be solved by the present invention is to overcome the design defects of the leg mechanism in the prior art, technically realize that the supporting leg has no impact, and has a gait characteristic more in line with the normal walking of the human body.
  • the present invention provides a humanoid biped leg mechanism with stable walking, which includes a body, two leg mechanisms respectively installed on both sides of the body, and two leg mechanisms respectively installed on the two leg mechanisms.
  • the foot structure, the leg mechanism includes:
  • a four-bar linkage mechanism the four-bar linkage mechanism includes a crank, a first connecting rod, a rocker and a frame rod, the lower end of the first connecting rod is connected to one end of the crank through a hinge, and the other end of the crank is connected to the crank.
  • One end of the rack rod is connected by a hinge, the other end of the rack rod is hinged to the lower end of the rocker, the upper end of the rocker is connected to the first connecting rod through a hinge, and the connection point is the first the midpoint of the connecting rod;
  • a curve amplification mechanism includes a second connecting rod, a third connecting rod, a fourth connecting rod and a short connecting rod, the second connecting rod is hinged to one end of the short connecting rod, and the hinge point is the the midpoint of the second connecting rod, the other end of the short connecting rod is hinged to the shaft of the third connecting rod, the upper end of the second connecting rod is hinged to the midpoint of the fourth connecting rod, and the third connecting rod
  • the upper end of the rod is hinged to the lower end of the fourth connecting rod
  • the second connecting rod is arranged parallel to the third connecting rod
  • the short connecting rod is arranged parallel to the fourth connecting rod;
  • the upper end of the first connecting rod in the four-bar linkage mechanism is hinged to the lower end of the second connecting rod in the curve amplifying mechanism, and the lower end of the third connecting rod in the curve amplifying mechanism is fixedly connected to the foot structure , the frame rod in the four-bar linkage mechanism is relatively fixed to the body, the upper end of the fourth connecting rod in the curve amplification mechanism is connected to the outside of the body through a fixed hinge, and the hinge point is connected to the rocker The hinge points at the lower end are aligned vertically;
  • the foot structure In working condition, the foot structure is in contact with the ground.
  • the track generated by the upper end point of the first link in the four-bar linkage mechanism is close to the horizontal line in 5 steps.
  • the size ratio relationship between the trajectory generated by the curve amplification mechanism and the trajectory generated by the four-bar linkage mechanism is 2:1.
  • the rod length ratio of the crank, the first connecting rod, the rocker and the rack rod is 1:8:4:3.
  • the rods of the second connecting rod, the third connecting rod, the fourth connecting rod and the short connecting rod The long ratio relationship is 1:2:2:1.
  • crank, the first connecting rod, the rocker, the frame rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the short link The ratio of rod length is 1:8:4:3:6:12:12:6.
  • cranks of the two leg mechanisms are connected through transmission shafts built into the machine body.
  • the rotation angle difference between the cranks of the two leg mechanisms is 180°.
  • the foot structure is a half disc with a web.
  • the semi-disc is a cam-type corrected semi-circle.
  • the walking stable humanoid biped leg mechanism disclosed in the present invention can be used as a robot leg mechanism and a specific operation manipulator in various robot systems, and can also be used as a robot exoskeleton in limb rehabilitation equipment, and has a wide range of applications. practicality.
  • the walking stable humanoid biped leg mechanism disclosed in the present invention as a leg mechanism that moves smoothly and can better reflect the gait characteristics of the human body, can optimize the output of motion results, and is technically innovative.
  • the walking stable humanoid biped leg mechanism disclosed in the present invention has a simple and compact structure, can reduce the production cost of the product, and increase economic benefits, so it has a good market prospect.
  • Fig. 1 is the structure schematic diagram of the humanoid biped leg mechanism of stable walking of the present invention
  • Fig. 2 is the schematic diagram of the mechanism of the four-link mechanism of the humanoid biped leg mechanism with stable walking in the present invention
  • Fig. 3 is a schematic diagram of the mechanism of the connecting rod curve amplification mechanism of the humanoid biped leg mechanism with stable walking in the present invention
  • Fig. 4 is a motion track diagram of the foot of the humanoid biped leg mechanism with stable walking in the present invention
  • Fig. 5 is a dimensionless curve diagram of the displacement, velocity and acceleration of the foot of the Hawken mechanism in the vertical direction to the ground;
  • Fig. 6 is a dimensionless curve diagram of the displacement, velocity and acceleration of the foot of the humanoid biped leg mechanism with stable walking in the direction perpendicular to the ground;
  • Fig. 7 is a dimensionless curve diagram of the linear velocity of the foot movement of the humanoid biped leg mechanism and the Hawken mechanism with stable walking in the present invention
  • Fig. 8 is a schematic diagram of the foot structure of the humanoid biped leg mechanism walking smoothly in the present invention.
  • Fig. 9 is a working schematic diagram of the walking stable humanoid biped leg mechanism of the present invention.
  • Fig. 10 is a diagram of the motion track of the foot when the humanoid biped leg mechanism with stable walking of the present invention simulates walking on the ground.
  • a kind of stable walking humanoid bipedal leg mechanism of the present invention comprises a body 10, two leg mechanisms 20 installed on both sides of the body 10 and respectively installed on the body 10.
  • Foot structure 30 on two leg mechanisms 20 comprising:
  • crank 210 first connecting rod 211, rocking bar 212 and frame bar 213, and described first connecting rod 211 lower end is connected with described crank 210 by hinge rotation , the other end of the crank 210 is rotatably connected to one end of the rack bar 213 through a hinge, the other end of the rack bar 213 is hinged to the lower end of the rocker 212, and the upper end of the rocker 212 is hinged to the first
  • the connecting rod 211 is connected, and the connecting point is the midpoint of the first connecting rod 211;
  • a curve amplification mechanism includes a second connecting rod 220, a third connecting rod 221, a fourth connecting rod 222 and a short connecting rod 223, and the second connecting rod 220 is hinged to one end of the short connecting rod, so The hinge point is the midpoint of the second connecting rod 220, the other end of the short connecting rod 223 is hinged to the shaft of the third connecting rod 221, and the upper end of the second connecting rod 220 is connected to the fourth connecting rod.
  • the fourth connecting rod 222 are hinged at the middle point of the rod, the upper end of the third connecting rod 221 is hinged with the lower end of the fourth connecting rod 222, the second connecting rod 220 is arranged in parallel with the third connecting rod 221, and the short connecting rod 223 is connected with the third connecting rod 221.
  • the fourth connecting rod 222 is arranged in parallel;
  • the upper end of the above-mentioned first connecting rod 211 in the above-mentioned four-bar linkage mechanism 21 is hinged with the lower end of the above-mentioned second connecting rod 220 in the above-mentioned curve amplification mechanism 22, and the lower end of the above-mentioned third connecting rod 221 in the above-mentioned curve amplification mechanism 22 is fixedly connected with the above-mentioned foot structure 30
  • the above-mentioned frame bar 213 in the above-mentioned four-bar linkage mechanism 21 is relatively fixed to the above-mentioned body 10, and the above-mentioned fourth connecting rod 222 in the above-mentioned curve amplification mechanism 22 is connected to the outside of the above-mentioned body 10 through a fixed hinge, and the hinge point is connected to the rocker 212.
  • the lower hinge points are aligned vertically.
  • the above-mentioned foot structure 30 is in contact with the ground.
  • the track 41 generated by the upper end point of the first link 211 in the four-bar linkage mechanism 21 is close to the horizontal line in five steps.
  • the relationship between the trajectory 43 generated by the above-mentioned curve amplification mechanism 22 and the trajectory 41 generated by the above-mentioned four-bar linkage mechanism 21 is 2:1.
  • the rod length ratios of the crank 210 , the first connecting rod 211 , the rocker 212 and the frame rod 213 are 1:8:4:3.
  • the rod length ratio of the second connecting rod 220 , the third connecting rod 221 , the fourth connecting rod 222 and the short connecting rod 223 is 1:2:2:1.
  • the above-mentioned crank 210, the above-mentioned first connecting rod 211, the above-mentioned rocker 212, the above-mentioned frame rod 213, the above-mentioned second connecting rod 220, the above-mentioned third connecting rod 221, and the above-mentioned fourth connecting rod The rod length ratio relationship between 222 and the short connecting rod 223 is 1:8:4:3:6:12:12:6.
  • cranks 210 of the two above-mentioned leg mechanisms are connected through transmission shafts built into the machine body 10 .
  • the rotation angle difference between the cranks 210 of the two above-mentioned leg mechanisms is 180°.
  • the above-mentioned foot structure 30 is a semi-disc 31 with a web.
  • the above-mentioned semi-disc 31 is a cam-type corrected semi-circle.
  • the present invention provides a four-bar linkage mechanism capable of generating a 5-order close trajectory to its tangent.
  • a gait trajectory the higher the degree of closeness to the straight line, the better the fit between the foot and the ground, the smaller the impact, and the more stable the walk.
  • the four-bar linkage mechanism is composed of a crank 210, a first connecting rod 211, a rocker 212 and a frame rod 213.
  • the designed rod length ratio is 1:8:4:3, and the first connecting rod
  • the hinge point on 211 is the midpoint of the bar.
  • the trajectory 41 of the upper end point of the first connecting rod has a 5th degree of closeness to the horizontal line at the point 40, presenting a longer straight line segment, which is proved as follows.
  • Equation (1) of track 41 takes the first derivative with respect to x to get
  • W 1 -2835-459x+594x 2 -6x 3 -15x 4 +x 5 +(198-30x-18x 2 +2x 3 )y 2 +(-3+x)y 4 (3)
  • Equation (1) of track 41 takes the second order derivative with respect to x to get
  • W 2 -459+1188x-18x 2 -60x 3 +5x 4 +(-30-36x+6x 2 )y 2 +y 4 (6)
  • Equation (1) of trajectory 41 calculates the fourth order derivative with respect to x to get
  • Equation (1) of track 41 calculates the fifth derivative with respect to x to get
  • trajectory 41 is close to the horizontal line at the position 42 by order 5.
  • the trajectory 41 is shown in FIG. 4 .
  • the curve is like a shell, and the lower part has a longer approximate straight line.
  • Fig. 5 and Fig. 6 are respectively the displacement, velocity and acceleration curves of the Hawken mechanism and the foot of the four-bar linkage mechanism in the direction perpendicular to the ground (the y-axis direction in Fig. 2), and the data are all displayed as dimensionless quantities.
  • the initial position of the crank is shown in Figure 2, rotating counterclockwise.
  • the swing phase of the gait cycle corresponds to a crank angle of 90°-270°
  • the stance phase corresponds to a crank angle of 270°-450°, see Figure 5 and the dashed line and colored interval in Figure 6, respectively.
  • Figure 5 shows that the feet moving along the curve generated by the Hawken mechanism fluctuate in the displacement, velocity, and acceleration of the ground foot along the vertical direction of the ground during the support phase (colored interval in Figure 5), indicating that the body will vibrate during walking.
  • the swinging foot in the swing stage has no starting speed (Figure 5B, the crank angle is 90°), and it takes a while before the foot can be lifted, resulting in a vertical displacement ( Figure 5A, after the crank angle is about 105°), indicating that there is a striding action Hysteresis.
  • the supporting foot is highly attached to the ground (colored interval in Figure 6A), and the velocity and acceleration curves along the vertical direction of the ground do not fluctuate (colored interval in Figure 6BC), indicating that the legs Movement is smooth.
  • the small displacements in the early and late stages of the support stage show that the ankle joints of the feet corresponding to the moving points are slightly lifted up, which is in line with the characteristics of the feet and ankles that support the movement of the human body during normal walking.
  • the speed and acceleration before and after the swing stage are not zero, indicating that there is a start-up speed and acceleration of the swinging leg, which is similar to the moment when the human body walks when the foot is lifted and landed.
  • the linear velocity curve of the foot movement (Fig.
  • the crank of the Hawken mechanism needs to rotate about 34°, while this mechanism is about 22°, which further shows that , the stepping response of the Hawken leg mechanism is relatively slow, and the bipedal walking is closer to the gait of a duck, which is different from the gait of the human body, while the gait of this leg mechanism is closer to that of the human body.
  • the leg mechanism adds an amplifying mechanism on the basis of the above-mentioned gait trajectory generating mechanism to move the gait curve down to meet the requirements of the foot position under the body, and to serve as an adjustable device for outputting different strides.
  • the amplification mechanism consists of three rods with hinges in the middle and a short connecting rod. Wherein the size ratio of the second connecting rod 220, the third connecting rod 221, the fourth connecting rod 222 and the short connecting rod 223 is set to 6:12:12:6 (the value is taken as 1 for the length of the crank 1 in Fig. 1 as a reference. Different corresponding to different magnifications). Under the constraint of the fixed hinge, the locus 41 of the upper end point of the first connecting rod is enlarged to a locus 43 by the lower end point of the second connecting rod, and the amplification ratio is 2:1.
  • This mechanism adopts the lower end of the band web half disc and the third connecting rod 221 to be fixedly connected.
  • the semicircular contour 32 of the sole is modified to the contour 33 according to the design method of the cam contour, so as to simulate the movement of the sole from the sole.
  • the ankle movement guided by the contact point change is shown in Figure 8 for a schematic diagram.
  • This leg mechanism is a single-degree-of-freedom mechanism, and it is made up of two parts of gait curve generation mechanism 21 and curve amplification mechanism 22, as shown in Figure 9 solid line.
  • a group of leg mechanisms are respectively installed on both sides of the body 10 to form a biped leg mechanism.
  • the solid line represents the right leg mechanism, and the double dotted line represents the left leg mechanism.
  • the drive crank of the right leg maintains a phase difference of 180° with the crank of the left leg through the built-in transmission shaft, and the trajectory shape of the point 52 representing the right ankle joint and the point 53 of the left ankle joint are the same.
  • points 52 and 53 are respectively located at the two ends of the approximate straight line, corresponding to the positions of the right leg mechanism driving the crank at 90° and the left leg mechanism driving the crank at 270°, indicating that both feet touch the ground at the same time at this moment, which is the middle of the gait cycle.
  • the right foot is the supporting foot and the left foot is the swinging foot.
  • the right foot is lifted to become the swinging foot, and the left foot is the supporting foot.
  • the two feet can realize isochronous, Continuous alternating motion.
  • Fig. 1 is a structural schematic diagram of the humanoid biped walking leg mechanism.
  • Fig. 10 shows that, under the anticlockwise driving of the crank 210, the legs alternately walk forward, and the curve 60 and the curve 61 are respectively the motion trajectories of the right ankle joint and the left ankle joint.

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Abstract

一种行走平稳的仿人双足腿机构，包括一个机体（10）、分别安装于机体（10）两侧的两个腿机构（20）以及分别安装于两个腿机构（20）上的脚结构（30），腿机构（20）包括一个特殊四连杆机构（21）和曲线放大机构（22），四连杆机构（21）内第一连杆（211）上端与曲线放大机构（22）内第二连杆（220）下端铰接，曲线放大机构（22）内第三连杆（221）下端与脚结构（30）固定连接，四连杆机构（21）内机架杆（213）与机体（10）相对固定，曲线放大机构（22）内第四连杆（222）上端通过固定铰链与机体（10）外侧连接。工作状态下，脚结构（30）与地面接触，实现行走过程中与地面无冲击的稳定支撑，双足等时、平稳交替，具有符合人体正常步行的步态特征。

Description

一种行走平稳的仿人双足腿机构 技术领域
本发明涉及机械自动化技术领域，尤其是指一种行走平稳的仿人双足腿机构。
背景技术
仿人行走腿机构需要实现双足支撑和摆动的等时交替。以身体为参照，在支撑阶段，着地脚沿一条近似直线运动，而摆动阶段，摆动脚沿曲线运动。依据这样的人体步态特征，由一段近似直线和曲线组成的贝壳状曲线成了地面行走腿机构足部运动的目标轨迹，此类轨迹的生成机构以1926年被提出的霍肯机构为代表。霍肯机构以其简单的结构成为目前单自由度腿机构的经典设计，以此为基础，开发崎岖路面自适应行走机器人腿机构成为双足机器人机构设计的一个重要方向。由霍肯机构生成的贝壳状连杆曲线，其近似直线的误差虽然极小，但因不存在与直线高阶密切的点，作为仿人足部轨迹曲线，着地脚与地面存在额外冲击，从而影响机体支撑的稳定性。
1999年，东京工业大学武田研究室提出的用于“步行椅”的腿机构，成为又一个有影响的腿机构。此机构所生成的连杆曲线上也有一段较长的近似直线，但也不存在与直线高阶密切的点，所以并没有解决腿机构着地脚的振动问题。因此，如何解决着地脚的振动，实现平稳行走是本领域技术人员亟待解决的问题。
发明内容
为此，本发明所要解决的技术问题在于克服现有技术中腿机构的设计缺陷，从技术上实现支撑腿无冲击，并且具有更加符合人体正常行走的步态特征。
为解决上述技术问题，本发明提供了一种行走平稳的仿人双足腿机构，包括一个机体、分别安装于所述机体两侧的两个腿机构以及分别安装于所述两个腿机构上的脚结构，所述腿机构包括：
四连杆机构，所述四连杆机构包括曲柄、第一连杆、摇杆和机架杆，所述第一连杆下端与所述曲柄一端通过铰链转动连接，所述曲柄另一端与所述机架杆一端通过铰链转动连接，所述机架杆另一端与所述摇杆下端铰接，所述摇杆上端通过铰链与所述第一连杆连接，所述连接点为所述第一连杆的中点；
曲线放大机构，所述曲线放大机构包括第二连杆、第三连杆、第四连杆和短连接杆，所述第二连杆与所述短连接杆一端铰接，所述铰接点为所述第二连杆的中点，所述短连接杆另一端与所述第三连杆杆身铰接，所述第二连杆上端与所述第四连杆中点铰接，所述第三连杆上端与所述第四连杆下端铰接，所述第二连杆与所述第三连杆平行设置，所述短连接杆与所述第四连杆平行设置；
所述四连杆机构内所述第一连杆上端与所述曲线放大机构内所述第二连杆下端铰接，所述曲线放大机构内所述第三连杆下端与所述脚结构固定连接，所述四连杆机构内所述机架杆与所述机体相对固定，所述曲线放大机构内所述第四连杆上端通过固定铰链与所述机体外侧连接，所述铰接点与摇杆下端的铰接点竖直对齐；
工作状态下，所述脚结构与地面接触。
进一步的，所述四连杆机构内所述第一连杆上端点生成的轨迹与水平线存在5阶密切。
进一步的，所述曲线放大机构生成的轨迹与所述四连杆机构生成的轨迹尺寸比例关系为2:1。
进一步的，所述曲柄、所述第一连杆、所述摇杆和所述机架杆的杆长比例关系为1:8:4:3。
进一步的，根据权利要求3所述的一种行走平稳的仿人双足腿机构，所 述第二连杆、所述第三连杆、所述第四连杆和所述短连接杆的杆长比例关系为1:2:2:1。
进一步的，所述曲柄、所述第一连杆、所述摇杆、所述机架杆、所述第二连杆、所述第三连杆、所述第四连杆和所述短连接杆的杆长比例关系为1:8:4:3:6:12:12:6。
进一步的，两个所述腿机构的曲柄之间通过机体内置传动轴传动连接。
进一步的，两个所述腿机构的曲柄之间转角差为180°。
进一步的，所述脚结构为带腹板的半圆盘。
进一步的，所述半圆盘为凸轮式修正半圆形。
本发明的上述技术方案相比现有技术具有以下优点：
1)本发明公开的行走平稳的仿人双足腿机构，本发明可作为机器人腿机构、特定操作机械手应用于各类机器人系统中，也可作为机器人外骨骼应用于肢体康复器械中，具有广泛的实用性。
2)本发明公开的行走平稳的仿人双足腿机构，本发明作为一种运动平稳且能较好体现人体步态特征的腿机构，可以优化运动结果的输出，具有技术上的创新性。
3)本发明公开的行走平稳的仿人双足腿机构，本发明结构简单、紧凑，可以降低产品的生产成本，增加经济效益，因而具有良好的市场前景。
附图说明
为了使本发明的内容更容易被清楚地理解，下面根据本发明的具体实施例并结合附图，对本发明作进一步详细的说明，其中，
图1是本发明行走平稳的仿人双足腿机构的结构示意图；
图2是本发明行走平稳的仿人双足腿机构四连杆机构的机构简图；
图3是本发明行走平稳的仿人双足腿机构连杆曲线放大机构的机构简图；
图4是本发明行走平稳的仿人双足腿机构足部运动轨迹图；
图5是霍肯机构足部在与地面垂直方向的位移、速度和加速度无量纲曲线图；
图6是本发明行走平稳的仿人双足腿机构足部在与地面垂直方向的位移、速度和加速度无量纲曲线图；
图7是本发明行走平稳的仿人双足腿机构和霍肯机构足部运动的线速度无量纲曲线图；
图8是本发明行走平稳的仿人双足腿机构脚结构示意图；
图9是本发明行走平稳的仿人双足腿机构工作示意图；
图10是本发明行走平稳的仿人双足腿机构模拟地面行走时足部运动轨迹图。
说明书附图标记说明：10、机体；20、腿机构；21、四连杆机构；210、曲柄；211、第一连杆；212、摇杆；213、机架杆；22、曲线放大机构；220、第二连杆；221、第三连杆；222、第四连杆；223、短连接杆；30、脚结构；31、带腹板的半圆盘；32、半圆形轮廓；33、修正后足底外轮廓；40、第一连杆上端轨迹点/第二连杆下端轨迹点；41、第一连杆上端点轨迹；42、第三连杆下端轨迹点；43、第三连杆下端点轨迹；50、支撑期结束点；51、跨步起始点；52、右脚运动点；53、左脚运动点；60、右脚踝关节运动曲线；61、左脚踝关节运动曲线。
具体实施方式
下面结合附图和具体实施例对本发明作进一步说明，以使本领域的技术人员可以更好地理解本发明并能予以实施，但所举实施例不作为对本发明的限定。
参照图1至图10所示，本发明的一种行走平稳的仿人双足腿机构，包括一个机体10、分别安装于所述机体10两侧的两个腿机构20以及分别安装于所述两个腿机构20上的脚结构30，所述腿机构20包括：
四连杆机构21，所述四连杆机构21包括曲柄210、第一连杆211、摇杆212和机架杆213，所述第一连杆211下端与所述曲柄210一端通过铰链转动连接，所述曲柄210另一端与所述机架杆213一端通过铰链转动连接，所述机架杆213另一端与所述摇杆212下端铰接，所述摇杆212上端通过铰链与所述第一连杆211连接，所述连接点为所述第一连杆211的中点；
曲线放大机构，所述曲线放大机构包括第二连杆220、第三连杆221、第四连杆222和短连接杆223，所述第二连杆220与所述短连接杆一端铰接，所述铰接点为所述第二连杆220的中点，所述短连接杆223另一端与所述第三连杆221杆身铰接，所述第二连杆220上端与所述第四连杆222杆中点铰接，所述第三连杆221上端与所述第四连杆222下端铰接，所述第二连杆220与所述第三连杆221平行设置，所述短连接杆223与所述第四连杆222平行设置；
上述四连杆机构21内上述第一连杆211上端与上述曲线放大机构22内上述第二连杆220下端铰接，上述曲线放大机构22内上述第三连杆221下端与上述脚结构30固定连接，上述四连杆机构21内上述机架杆213与上述机体10相对固定，上述曲线放大机构22内上述第四连杆222通过固定铰链与上述机体10外侧连接，所述铰接点与摇杆212下端的铰接点竖直对齐。
工作状态下，上述脚结构30与地面接触。
本实施例中优选的实施方式，上述四连杆机构21内上述第一连杆211上端点生成的轨迹41与水平线存在5阶密切。
本实施例中优选的实施方式，上述曲线放大机构22生成的轨迹43与上述四连杆机构21生成的轨迹41尺寸比例关系为2:1。
本实施例中优选的实施方式，上述曲柄210、上述第一连杆211、上述摇杆212和上述机架杆213的杆长比例关系为1:8:4:3。
本实施例中优选的实施方式，上述第二连杆220、上述第三连杆221、 上述第四连杆222和上述短连接杆223的杆长比例关系为1:2:2:1。
本实施例中优选的实施方式，上述曲柄210、上述第一连杆211、上述摇杆212、上述机架杆213、上述第二连杆220、上述第三连杆221、上述第四连杆222和上述短连接杆223的杆长比例关系为1:8:4:3:6:12:12:6。
本实施例中优选的实施方式，两个上述腿机构的曲柄210之间通过机体10内置传动轴传动连接。
本实施例中优选的实施方式，两个上述腿机构的曲柄210之间转角差为180°。
本实施例中优选的实施方式，上述脚结构30为带腹板的半圆盘31。
本实施例中优选的实施方式，上述半圆盘31为凸轮式修正半圆形。
步态轨迹生成机构说明：
本发明提供一个能生成与其切线具有5阶密切轨迹的四连杆机构。作为步态轨迹，与直线密切阶数越高表明着地脚与地面贴合度越好，冲击越小，行走越平稳。
如图2所示，四连杆机构由曲柄210、第一连杆211、摇杆212和机架杆213组成，所设计的杆长比例关系为1:8:4:3，第一连杆211上的铰接点为杆的中点。第一连杆上端点轨迹41在点40处与水平线存在5阶密切，呈现出较长的直线段，证明如下。
在图2的坐标系xOy中，取曲柄210长度为1，轨迹41的方程为35721-17010x-1377x 2+1188x 3-9x 4-18x 5+x 6+(855+1188x-90x 2-36x 3+3x 4)x 2+(-81-18x+3x 2)y 4+y 6＝0          (1)
轨迹41在点40处的坐标为x＝3，
Figure PCTCN2021141920-appb-000001
轨迹41的方程(1)对x求一阶导数得
W 1+y′(D 1)＝0，                 (2)
式中，
Figure PCTCN2021141920-appb-000002
W 1＝-2835-459x+594x 2-6x 3-15x 4+x 5+(198-30x-18x 2+2x 3)y 2+(-3+x)y 4                          (3)
D 1＝(285+396x-30x 2-12x 3+x 4)y+(-54-12x+2x 2)y 3+y 5   (4)
将x＝3,
Figure PCTCN2021141920-appb-000003
代入(3)式得W 1＝0，由(2)式得y′＝0。
轨迹41的方程(1)对x求二阶导数得
W 2+y′(D 2+D 1′)+y"(D 1)＝0，                  (5)
式中
W 2＝-459+1188x-18x 2-60x 3+5x 4+(-30-36x+6x 2)y 2+y 4   (6)
D 2＝(396-60x-36x 2+4x 3)y+(-12+4x)y 3              (7)
将x＝3,
Figure PCTCN2021141920-appb-000004
代入(6)式得W 2＝0，由(5)式得y"＝0。
轨迹41的方程对x求三阶导数得
W 3+y′(D 3+D 2′+D 1″)+y″(D 2+2D′ 1)+y″′(D 1)＝0，        (8)
式中
W 3＝1188-36x-180x 2+20x 3+(-36+12x)y 2              (9)
D 3＝(-60-72x+12x 2)y+4y 3                    (10)
将x＝3,
Figure PCTCN2021141920-appb-000005
代入(9)式得W 3＝0，由(8)式得y″′＝0。
轨迹41的方程(1)对x求四阶导数得
W 4+y′(D 4+D 3′+D 2″+D 1″′)+y″(D 3+2D 2′+3D 1″)+y″′(D 2+3D 1′)+y (4)(D 1)＝0，                           (11)
式中
W 4＝-36-360x+60x 2+12y 2                   (12)
D 4＝(-72+24x)y                       (13)
将x＝3,
Figure PCTCN2021141920-appb-000006
代入(12)式得W 4＝0，由(2)式得y (4)＝0。
轨迹41的方程(1)对x求五阶导数得
W 5+y′(D 5+D 4′+D 3″+D 2″′+D 1 (4))+y″(D 4+2D 3′+3D 2″+4D 1″′)+y″′(D 3+3D 2′+6D 1″)+y (4)(D 2+4D 1′)+y (5)(D 1)＝0，            (14)
式中
W 5＝-360+120x              (15)
D 5＝24y                      (16)将x＝3,
Figure PCTCN2021141920-appb-000007
代入(15)式得W 5＝0，由(14)式得y (5)＝0。
由此证得轨迹41在位置42处与水平线存在5阶密切。轨迹41如图4所示。曲线如贝壳状，下半部分有一段较长的近似直线。
本发明提供的四连杆机构与霍肯机构比较：
图5和图6分别为霍肯机构和本四连杆机构足部在与地面垂直方向(图2y轴方向)的位移、速度和加速度曲线图，数据均显示为无量纲量。曲柄初始位置如图2所示，逆时针旋转。步行周期的摆动期对应曲柄转角90°—270°，支撑期对应曲柄转角270°-450°，分别见图5，图6中的虚线和着色区间。
图5显示，沿霍肯机构生成的曲线运动的双足，在支撑阶段(图5着色区间)，着地脚沿地面垂直方向的位移、速度、加速度存在波动，表明步行过程中机体会有振动。进入摆动阶段的摆动脚无启动速度(图5B，曲柄转角90°)，需要经过一段时间之后才能抬脚，产生垂直方向的位移(图5A，曲柄转角约105°之后)，表明跨步动作存在滞后现象。
相比之下，沿本机构生成的曲线运动的双足，支撑脚与地面高度贴合(图6A着色区间)，沿地面垂直方向的速度、加速度曲线没有波动(图6BC着色区间)，表明腿部运动平稳。支撑阶段前期、后期的微小位移表明，动点所对应的足部踝关节微微上抬，符合人体正常行走时支撑脚脚腕运动的特点。 而摆动阶段前后期的速度和加速度均不为零，表明摆动腿存在启动速度和加速度，与人体行走时抬脚和落脚瞬间的表现相似。足部运动的线速度曲线(图7)显示，霍肯机构在支撑阶段(图7着色区间)的线速度接近匀速(图7实线)，意味着支撑脚在抓地过程中，机体被匀速推进，而本机构行走的速度为抬脚和落脚时慢，脚支撑中期速度快(图7虚线)，这样的速度变化规律具有人体正常步行时的节奏感，符合人体的步态特征。
另外，从支撑期结束的轨迹点50(图2)，到向前跨步的起点51(图2)，霍肯机构的曲柄需要转动约34°，本机构则约为22°，这进一步表明，霍肯腿机构跨步反应较为迟缓，双足行走更接近于鸭子的步态，与人体步态存在差异，而本腿机构与人体的步态更为接近。
曲线放大机构说明：
本腿机构在上述步态轨迹生成机构的基础上增加一个放大机构，起到将步态曲线下移以符合处于机体下方的足部位置需求，以及作为不同步幅输出的可调装置。如图3所示，放大机构由三根中间带铰链的杆件和一根短的连接杆组成。其中第二连杆220、第三连杆221、第四连杆222和短连接杆223的尺寸比例设置为6：12：12：6(数值以图1中曲柄1长取1为参照。不同的尺寸比例关系对应不同的放大倍数)。在固定铰链的约束下，第一连杆上端点轨迹41被第二连杆下端点放大为轨迹43，放大比例为2:1。
凸轮式修正半圆形脚结构说明：
本机构采用带腹板半圆盘与第三连杆221的下端固连。依据作为踝关节的第三连杆221下端点的运动轨迹43在支撑阶段前、后期的形态，将足底半圆形轮廓32按凸轮廓线的设计方法修正为轮廓33，以模拟由足底接触点改变引导的脚腕运动，示意图见图8。
仿人双足腿机构说明：
本腿机构为单自由度机构，它由步态曲线生成机构21和曲线放大机构 22两部分组成，如图9实线所示。在机体10两侧分别安装一组腿机构，组成双足腿机构，实线代表右腿机构，双点画线代表左腿机构。右腿的驱动曲柄通过内置传动轴与左腿的曲柄保持180°的相位差，代表右脚踝关节的点52和左脚踝关节的点53的轨迹形态相同。图中点52和点53分别位于近似直线的两端，对应右腿腿机构驱动曲柄90°和左腿腿机构驱动曲柄270°的位置，表示此瞬时双脚同时接触地面，为步态周期中支撑阶段和摆动阶段的临界时刻，前一时刻，右脚为支撑脚，左脚为摆动脚，后一时刻右脚抬起，成为摆动脚，左脚成为支撑脚，双脚可实现等时、连续的交替运动。
实施例：
图1为本仿人双足行走腿机构的结构示意图。图10显示，在曲柄210逆时针驱动下，双腿交替向前行走，曲线60和曲线61分别为右脚踝关节和左脚踝关节的运动轨迹。
显然，上述实施例仅仅是为清楚地说明所作的举例，并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (10)

  1. 一种行走平稳的仿人双足腿机构，其特征在于，包括一个机体、分别安装于所述机体两侧的两个腿机构以及分别安装于所述两个腿机构上的脚结构，所述腿机构包括：
    四连杆机构，所述四连杆机构包括曲柄、第一连杆、摇杆和机架杆，所述第一连杆下端与所述曲柄一端通过铰链转动连接，所述曲柄另一端与所述机架杆一端通过铰链转动连接，所述机架杆另一端与所述摇杆下端铰接，所述摇杆上端通过铰链与所述第一连杆连接，所述连接点为所述第一连杆的中点；
    曲线放大机构，所述曲线放大机构包括第二连杆、第三连杆、第四连杆和短连接杆，所述第二连杆与所述短连接杆一端铰接，所述铰接点为所述第二连杆的中点，所述短连接杆另一端与所述第三连杆杆身铰接，所述第二连杆上端与所述第四连杆中点铰接，所述第三连杆上端与所述第四连杆下端铰接，所述第二连杆与所述第三连杆平行设置，所述短连接杆与所述第四连杆平行设置；
    所述四连杆机构内所述第一连杆上端与所述曲线放大机构内所述第二连杆下端铰接，所述曲线放大机构内所述第三连杆下端与所述脚结构固定连接，所述四连杆机构内所述机架杆与所述机体相对固定，所述曲线放大机构内所述第四连杆上端通过固定铰链与所述机体外侧连接，所述铰接点与摇杆下端的铰接点竖直对齐；
    工作状态下，所述脚结构与地面接触。
  2. 根据权利要求1所述的一种行走平稳的仿人双足腿机构，其特征在于，所述四连杆机构内所述第一连杆上端点生成的轨迹与水平线存在5阶密切。
  3. 根据权利要求1所述的一种行走平稳的仿人双足腿机构，其特征在于，所述曲线放大机构生成的轨迹与所述四连杆机构生成的轨迹尺寸比例关系 为2:1。
  4. 根据权利要求3所述的一种行走平稳的仿人双足腿机构，其特征在于，所述曲柄、所述第一连杆、所述摇杆和所述机架杆的杆长比例关系为1:8:4:3。
  5. 根据权利要求3所述的一种行走平稳的仿人双足腿机构，其特征在于，所述第二连杆、所述第三连杆、所述第四连杆和所述短连接杆的杆长比例关系为1:2：2:1。
  6. 根据权利要求3所述的一种行走平稳的仿人双足腿机构，所述曲柄、所述第一连杆、所述摇杆、所述机架杆、所述第二连杆、所述第三连杆、所述第四连杆和所述短连接杆的杆长比例关系为1:8:4:3:6:12:12:6。
  7. 根据权利要求1所述的一种行走平稳的仿人双足腿机构，其特征在于，两个所述腿机构的曲柄之间通过机体内置传动轴传动连接。
  8. 根据权利要求7所述的一种行走平稳的仿人双足腿机构，其特征在于，两个所述腿机构的曲柄之间转角差为180°。
  9. 根据权利要求1所述的一种行走平稳的仿人双足腿机构，其特征在于，所述脚结构为带腹板的半圆盘。
  10. 根据权利要求9所述的一种行走平稳的仿人双足腿机构，其特征在于，所述半圆盘为凸轮式修正半圆形。
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