Zhao Jinglei, Pu Huayan, Zou Jun, Sun Yi, Ma Shugen
School of Mechatronic Engineering and Automation, Shanghai University, 149 Yanchang Road, Shanghai, China ; Engineering Training Centers, Guizhou University, Guiyang, Guizhou China.
School of Mechatronic Engineering and Automation, Shanghai University, 149 Yanchang Road, Shanghai, China.
Robotics Biomim. 2016;3:9. doi: 10.1186/s40638-016-0034-2. Epub 2016 Jun 28.
A novel eccentric paddle mechanism based on the epicyclic gear mechanism (ePaddle-EGM) has been proposed to enhance the mobility of amphibious robot for multi-terrain tasks with diverse locomotion gaits. This paper presents a brief description for this mechanism. Based on the feature of ePaddle-EGM, a unique non-reciprocating legged gait planning method is proposed. This method could minimize the negative effect of backlash between gear mesh in the epicyclic gear mechanism. Furthermore, the stable tripod gait for the ePaddle-EGM-based hexapod robot is designed. One of the most important characteristics of this tripod gait is that it is capable of realizing discontinuous locomotion of the body through continuous and unidirectional rotation of joints. In this way, the velocity shock is eliminated and the locomotion accuracy is guaranteed. A series of simulations were conducted to validate the advantages of the robot's movement.
为了提高两栖机器人在多地形任务中采用多种运动步态的机动性，提出了一种基于行星齿轮机构的新型偏心桨机构（ePaddle-EGM）。本文对该机构进行了简要描述。基于ePaddle-EGM的特点，提出了一种独特的非往复式腿部步态规划方法。该方法可以最大限度地减少行星齿轮机构中齿轮啮合间隙的负面影响。此外，还设计了基于ePaddle-EGM的六足机器人的稳定三角步态。这种三角步态最重要的特点之一是，它能够通过关节的连续单向旋转实现身体的间断运动。通过这种方式，消除了速度冲击，保证了运动精度。进行了一系列仿真以验证机器人运动的优势。
