摘要
针对蟑螂机器人直接串联式腿构形承载能力差、机体刚度不能满足要求,以及单腿少于3自由度构形不能精确控制机体位姿的问题,设计一种基于双四杆机构的仿生蟑螂机器人。对机器人求运动学逆解,求得各个驱动关节转角;对机器人进行静力学分析,通过解析法得到关节驱动电动机所需的驱动转矩;用可视化的方法对机构的工作空间进行分析,同时提出快速工作空间与越障工作空间的概念来衡量机器人的平面运动性能与越障性能;制作样机进行行走试验。通过与直接串联构形的比较可知,新设计的样机不仅提高了移动速度,同时增加了系统承载能力,验证了上述设计的合理性与可行性。
A bionic cockroach robot based on the double four-bar linkage is designed,which can solve the problem that the robot based on the directly serial leg mechanism has weak bearing capacity and rigidity,as well as the position and orientation of the robot cannot be controlled accurately if the degree of freedom（DOF） of one leg is less than three.The inverse kinematics is solved in order to obtain the position of the driven joint.Then,the statics analysis of the robot is carried out,from which the driving torque needed by the joint driven motor is obtained.A visual method is used to analyze the workspace of the mechanism.Two concepts,the fast workspace and obstacle-cross workspace,are proposed to measure the planar motion performance and obstacle-surmounting performance of the robot.Finally a prototype is fabricated for walking test.Compared with the robot based on the directly serial mechanism,the newly designed prototype not only increases the moving speed,but also strengthens the bearing capacity,thus verifying the rationality and feasibility of the above-mentioned design.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第11期14-22,共9页
Journal of Mechanical Engineering
基金
国家高技术研究发展计划(863计划
2008AA04Z210)
国家自然科学基金(60775059)
北京市自然科学基金(3093021)资助项目
