摘要
为使四足机器人在行走时获得更加优异的运动与抗冲击性能,设计了一种具有弹性同轴机构的四足机器人,提出了足端集成缓震的闭链弹性腿结构。采用闭环矢量法与几何分析法,建立了机器人单腿运动学模型,并对其进行了正逆运动学分析。研究了对角小跑步态下四足机器人的步态时序,得到了滞空、着地时间点与步态周期的关系。通过2种不同腿部构型机器人的行走对比实验,分别对两者的质心位移、前进速度、足端接触力及驱动电机力矩曲线进行仿真分析,验证了机器人移动的高效与稳定性。
In order to make the quadruped robot get more excellent motion and anti-impact performance when walking,aquadruped robot with elastic coaxial mechanism was designed,and a closed chain elastic leg structure with foot-end integrated cushioning was proposed.The closed-loop vector method and geometric analysis method were used to establish the kinematics model of the robot single leg,and the forward and inverse kinematics analysis was carried out.The gait timing of the quadruped robot with di-agonal trot gait was studied,and the relationship between the time points of stalling and landing and the gait cycle was obtained.Through the walking comparative experiments of two different leg configuration robots,the curves of mass center displacement,forward speed,foot-end contact force and driving motor torque were simulated and analyzed respectively,which verifies the high efficiency and stability of the robot movement.
作者
郑皓冉
秦建军
杨芳
江磊
苏波
ZHENG Haoran;QIN Jianjun;YANG Fang;JIANG Lei;SU Bo(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing100044,China;Beijing Key Laboratory of Performance Guarantee on Urban Rail Transit Vehicles,Beijing University of Civil Engineering and Architecture,Beijing100044,China;China North Vehicle Research Institute,Beijing100072,China)
出处
《中国科技论文》
CAS
北大核心
2022年第8期930-937,共8页
China Sciencepaper
基金
国家自然科学基金资助项目(91748211)
北京建筑大学市属高校基本科研业务费专项资金资助项目(X20060)
北京建筑大学研究生创新项目(PG2021092)。
关键词
四足机器人
弹性同轴腿
运动学分析
对角小跑步态
仿真分析
quadruped robot
elastic coaxial leg
kinematic analysis
diagonal trot gait
simulation analysis
