高自由度轻量化仿生腿：提升小型机器人机动性
High-Degree-of-Freedom Lightweight Bioinspired Leg for Enhanced Mobility in Small Robots
AI总结：
针对微型机器人腿部自由度受限问题，提出一种四自由度并联腿机构，通过同心设计简化运动学，实现轻量化（18.9g）和大工作空间（>22255 mm³），显著提升运动灵活性。
摘要：
在微型机器人领域，如何在严格的空间限制下通过增加腿部机构的自由度来增强运动能力仍然是一个重大挑战。受昆虫运动启发，本文提出了一种新型的微型四自由度并联腿机构，并系统分析了其机械设计、电气系统和运动学。该设计采用两个球形五杆连杆机构，在并联四杆配置中实现空间运动。此外，采用同心设计策略简化了腿部运动学的解析解。由于采用并联系统架构，所有执行器均位于主体上，与传统高自由度腿部结构相比，大大降低了运动部件的等效惯性。系统总质量仅为18.9 g，末端执行器输出力约为0.5 N，工作空间超过22255 mm³。实验结果表明，所提出的单腿机构具有优异的运动灵活性，凸显了其在微型仿生机器人领域的潜力。
英文摘要：
In microrobotics, enhancing locomotion capabilities by increasing the degrees of freedom (DoF) of leg mechanisms under severe spatial constraints remains a significant challenge. Inspired by insect locomotion, this paper presents a novel micro-scale parallel leg mechanism with four degrees of freedom, and systematically analyzes its mechanical design, electrical system, and kinematics. The design incorporates two spherical five-bar linkages to achieve spatial motion within a parallel four-bar configuration. Furthermore, a concentric design strategy is employed to simplify the analytical solution of the leg kinematics. Due to the parallel system architecture, all actuators are located on the main body, substantially reducing the equivalent inertia of moving parts compared to traditional high-DOF leg structures. The total mass of the system is only 18.9 g, with an end-effector output force of approximately 0.5 N and a workspace exceeding 22255 mm3. Experimental results demonstrate that the proposed single-leg mechanism achieves excellent motion flexibility, highlighting its potential for micro bio-inspired robotics.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
