Biped 4R2C Six-bar Mechanism with Inner and Outer Feet

作     者：LIU Chao WANG Hao YAO Yan-an 

作者机构：State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong University Shanghai Key Laboratory of Digital Manufacture for Thin-Walled StructuresShanghai Jiao Tong University School of MechanicalElectronic and Control EngineeringBeijing Jiaotong University 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2016年第29卷第1期

页      面：45-55页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.51175030,51505022) Foundation of Talents of Beijing Jiaotong University,China(Grant No.2015RC047) China Postdoctoral Science Foundation(Grant No.2013M531168) the Specialized Research Fund for the Doctoral Program of Higher Education,China(Grant No.20130009110030) 

主　　题：spatial six-bar mechanism 4R2C mechanism biped mechanism 

摘      要：Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet based on a spatial six-bar 4R2C（R and C denote revolute and cylindric joints, respectively） mechanism is proposed. It can move along a line or a curve by three walking modes that are dwell adjustment mode, limit position adjustment mode and any position adjustment mode. Kinematic, gait planning and stability analyses are performed respectively, and a prototype is developed. Lastly, a potential application is considered and two manipulating modes（sphere and cylinder manipulating modes） are carried out. This interesting mechanism feathering its single dosed-chain structure and unique work performance is expected to motivate the configuration creation of biped robots.