摘要
针对六足机器人在不平整路面上机身容易发生倾斜的问题,以一种仿蜘蛛身体结构的六足机器人为研究对象,分析六足机器人特技动作。通过对障碍物在机身正上方、正下方、左下方、右下方4种情况的分析,建立六足机器人机身升降、左右倾斜两种运动状态下腿部关节角度的运动学模型,研究腿部结构在不平整路面上的动作。运动学分析表明,调节腿部关节角度能够使六足机器人机身在不平整路面上保持水平。
In order to address the problem that hexapod robot is prone to tilt on uneven road,a spider-like hexapod robot was taken as the research subject to analyze its acrobatic movement. To study the movement of robotic legs on uneven roads,this paper constructed a kinematic model of joint angles for two types of robot movement,namely,tilting to left or right as well as being lifted or lowered,under four different conditions of obstacles being above or under and on the left or right of the robot. The kinematic analysis shows that adjusting the joint angles of robotic legs helps to keep the hexapod robot level on uneven roads.
作者
吴文锦
庄涵颖
陈明明
张平霞
朱永强
WU Wenjin;ZHUANG Hanying;CHEN Mingming;ZHANG Pingxia;ZHU Yongqiang(School of Mechanical&Automotive Engineering,Qingdao University of Technology,Qingdao 266520,China)
出处
《江苏工程职业技术学院学报》
2022年第2期26-29,共4页
Journal of Jiangsu College of Engineering and Technology
基金
2021年国家级大学生创新训练项目(编号:SC202110429230)。
