The Configuration Research Of Walking Machine’s Leg Based On Metamorphic Mechanism

According to the movement, the mobile robot can be divided into wheeled, crawler,legged, snake form, jumping and hybrid etc. In the view of adaptability to terrain, the leggedrobot has a broad application prospect in many fields. Now, some legged robots have thesimple open linkage joint leg structure, which causes more DOF, so it needs a lot of servodrive system result in more complicated control and cost. But the complexity of control canbe reduced by improving the structure design of mechanism. As existing single DOF legstructure has lots of linkage-bars and complex structure. This paper design a new simple legmechanism based on metamorphic mechanism, it obtains a good curve and ensures thestability of the robot walking.Firstly, this paper summarizes the basic concept of metamorphic mechanism, topologicaltransformation form, metamorphism and metamorphic kinematic pair to fully understand thebasic properties of metamorphic mechanism. Secondly, this paper analyzes the existingconfiguration description methods, then gives an improved adjacency matrix to solve theproblem that adjacency matrix configuration analysis cannot completely express allconfiguration changes, verifies the correctness of the matrix by changing the five barmechanism into four bar mechanism as an example. Thirdly, this paper analyzes andsummarizes the horse’s gait, foot trajectory and gravity compensation characteristics from thepoint of bionics, then introduces the metamorphic principle into the structure design of legmechanism according to the different functional requirements of trajectory curve. Fourthly,this paper chooses the four bar linkage mechanism as the spanning mechanism because of itcan realize the basic demand of across the barrier, then design the support sectionconfiguration kinematic chain with the structure type synthesis, last design the support sectionstructure by combining the running status and metamorphic method, Finally, this paper madea simulation on the design structure with the help of ADMAS and MATLAB.