Research On Walking Mechanism Of Foot Walking Vehicle With Low Energy Consumption Based On Drive Decoupling

With the development of science and technology,human beings need to explore more and more places,and even extend to places that are difficult for human beings to reach,which puts forward higher requirements for carrying tools.Foot walking vehicle can walk on rugged ground,with the help of walking vehicle,the scope of human exploration has been greatly expanded,so it has been more and more widely used.The walking mechanism of walking vehicle is directly related to its motion performance.Different mechanisms will produce different foot motion space and obstacle ability,which is more related to the energy consumption when walking.As an important part of sustainable development,the relationship between walking mechanism and energy consumption is a hot research topic in recent years.The main objective of this paper is to design a new walking mechanism and verify its low energy consumption characteristics.According to the structure,the walking mechanism can be divided into closed chain walking mechanism and open chain walking mechanism.Compared with the open chain walking mechanism,the closed chain walking mechanism has the advantages of high stiffness and good stability.Recent studies have shown that the closed chain walking mechanism can eliminate the inverse driving phenomenon in the open chain walking mechanism structurally and avoid the redundant energy consumption.The motion of the actuator on the driving decoupling mechanism is coordinated by multiple actuators.The motion of one or more drivers only produces the motion in one direction of the actuator,and the motion in different directions is independent of each other,and the foot motion is decoupling in two directions or even in multiple directions.On the basis of the original research,a closed chain walking mechanism with drive decoupling characteristics is designed,which can reduce the energy consumption of walking vehicle.The main research content of this paper is to complete the complete design process of a new type of planar five-bar mechanism named collinear drive decoupling mechanism,which is characterized by the fact that two mobile drivers in the same straight line share the driving force and support force of the leg moving forward.The geometric model of one-legged mechanism is established,the forward kinematic,inverse kinematic and dynamic equations are deduced,and the drivers sequence of various leg movements is put forward,and the three-dimensional model of hexapod walking with new walking mechanism is established,and the walking model of contrast scheme is established at the same time.Then the length of each rod of the mechanism is optimized,the influence of the length of the member on the obstacle ability and the moving space of the foot is studied,and the optimal rod length in the given range of rod length is found.Finally,the dynamic simulation of two kinds of walking vehicles with different walking mechanisms is carried out.By comparing the simulation data of the two schemes,it can be concluded that the energy consumption of the moving side of the collinear driver decoupling mechanism is obviously lower than that of the distributed driver decoupling mechanism,and the goal of reducing energy consumption is achieved.In this paper,the principle of mechanism design is creatively combined with the topology of linkage mechanism,and it is concluded that the five-bar mechanism is the simplest mechanism to realize that the walking foot can reach any point in three-dimensional space.The simulation results show that the collinear driver mechanism achieves the goal of reducing energy consumption compared with the distributed driver mechanism.The design scheme improves the uneven distribution of driving forces among multiple drivers,reduces the peak power of a single driver,relaxes the selection range of drivers,reduces the volume and weight of drivers,and reduces the cost of physical prototype manufacturing.