气动柔性关节六足机器人腿关节提升机构设计与仿真

针对气动柔性关机六足机器人腿部关节提升高度小，越障能力差的问题，设计了一种基于平行四杆机构的腿关节提升机构。搭建了运动学实验平台，并对样机进行运动学实验研究。实验结果表明：该提升机构能够有效的将腿部关节提升高度增加19mm，使机器人越障能力扩大为原来的1.63倍，为气动柔性关节六足机器人的研究奠定了基础。

Design and Simulation of Leg Joint Lifting Mechanism of Pneumatic Flexible Joint Hexapod Robot

Aiming at the problem that the pneumatic flexible shutdown hexapod robot has low leg joint lifting height and poor obstacle crossing ability, a leg joint lifting mechanism based on parallel four-bar mechanism is designed. We built a kinematics experiment platform and carried out kinematics experiment research on the prototype. The experimental results show that the lifting mechanism can effectively increase the height of leg joints by 19 mm, which enlarges the obstacle-surmounting ability of the robot to 1.63 times that of the original, and lays a foundation for the research of the pneumatic flexible joint hexapod robot.