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工程设计学报
Chinese Journal of Engineering Design  2005, Vol. 12 Issue (6): 363-365    DOI:
    
Research on spatial four-bar biped mechanism
 DENG  Kong-Shu, YAO  Yan-An, CHA  Jian-Zhong
College of Mechanical and Electronic Control Engineering, Beijing Jiaotong Univercity,Beijing 100044, China
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Abstract  This paper presents a new biped mechanism. A single spatial four-bar mechanism with two degrees of freedom is adopted as the body of the biped mechanism. In comparison with traditional walking machines with multi-links and multi-actuators, the new biped mechanism has the advantage of simple structure and control system. The structural principle is introduced and its stability is analyzed. Finally, a prototype is developed to verify the feasibility of the proposed concept.

Key words： spatial four-bar mechanism      biped mechanism      stability     
Published: 28 December 2005
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DENG Kong-Shu
YAO Yan-An
CHA Jian-Zhong
Cite this article:

DENG Kong-Shu, YAO Yan-An, CHA Jian-Zhong. Research on spatial four-bar biped mechanism. Chinese Journal of Engineering Design, 2005, 12(6): 363-365.

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https://www.zjujournals.com/gcsjxb/     OR     https://www.zjujournals.com/gcsjxb/Y2005/V12/I6/363


一种空间四杆两足步行机构的研究

提出一种新型两足步行机构。该步行机构以单一的两自由度空间四杆机构作为本体，与传统的多杆多动力步行机构相比，具有结构与控制系统简单的优点。介绍了其结构原理，进行了稳定性分析，并制作了原理样机以验证概念的可行性。

关键词： 空间四杆机构,  两足步行机构,  稳定性 
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