Hongbin Zang, Dengfeng Zhao and Lianguan Shen
Multi-legged robot, single drive, optimization, innovation design
A design strategy of multi-legged robot based on single continuous driving bionic leg is proposed. This kind of bionic leg needs only one driving motor mounted directly on the robot body, which can transform the continuous rotation of the motor to the back-and-forth swinging of the leg. Taking Jansen linkage as an example, through the theoretical analysis, virtual prototype function simulation and the performance test of the physical prototype, we realize the functions of walking, turning and climbing. To overcome the shortcomings of Jansen linkage, such as the singleness of foot motion trajectory and poor terrain adaptability, the system optimization and innovation design of the Jansen-linkage mechanism are carried out. The improved mechanism not only inherits the original advantages of Jansen linkage but also promotes the ability of obstacle crossing. By simulation experimental analysis, we prove the feasibility of the improved mechanism. The proposed strategy provides a reference for the multi-legged robot with simple controlling and low cost.
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