基于仿生学的四足行走机构优化设计

提出了一种仿生的四足行走机构设计方法，将单条腿分解为驱动机构和腿机构，利用数学模型对两个机构的结合点处的运动轨迹进行拟合和优化，在此基础上进行了足端的轨迹优化及运动特性分析．结果表明，整体机构能够完成预定的设计目标，机构运动速度及加速度轨迹比较合理，对角小跑型步态整体机构的运动模拟也能够实现．

Optimal Design of A Four-Leg Walking Mechanism Based on Bionics

A four-leg walking mechanism based on bionics is presented.The single leg is divided into driving and leg parts.The motion orbits of the combined point are optimized using mathematic model,and the motion character is analyzed according to the mathematical model.The results show that the whole mechanism can accomplish scheduled purpose,the velocity and acceleration of the mechanism are reasonable,the trotting pace can also complete the motion simulation.