助老助残四足/两足可重构并联腿步行机器人运动学建模与仿真  

Kinematics modeling and simulation of quadruped/biped walking robot with parallel leg mechanism for the elderly and the disabled

作　　者：王洪波[1] 徐桂玲[1] 张典范[1] 胡星[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《燕山大学学报》2010年第6期508-515,共8页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(61075099);河北省自然科学基金资助项目(E2008000808)

摘　　要：结合并联腿步行机器人和可重构机器人的优点,设计了一种新型的助老助残四足/两足可重构并联腿步行机器人,进行了该机器人的构型设计。以四足并联腿步行机器人为研究对象,根据步行机器人整机的结构特征和基本并联腿的运动特征,将整机的运动学问题转化为单个并联腿的运动学问题,建立了机器人整机系统的完整的运动学模型,进行了机器人在爬行步态下的仿真分析,得出了驱动器杆长的仿真曲线。该项研究为四足并联腿步行机器人整机的动力学分析和控制奠定了一定的基础。Combined the advantage of the robot with parallel leg mechanism and reconfigurable robot,a novel reconfigurable quadruped/biped walking robot with parallel leg mechanism is proposed in this paper.The configuration design of the robot is conducted.Taking the quadruped walking robot as object of study,according to the structure features of the quadruped walking robot and the movement characteristics of the basic parallel leg mechanism,the kinematics of the quadruped walking robot can be transformed into the kinematics of one parallel mechanism,thus kinematics models of the quadruped walking robot with parallel leg mechanism during walking are established.The simulation of the quadruped walking robot in crawling gait is analyzed and a numerical example and simulation results are provided.This research sets a theoretical basis for future investigation on the quadruped walking robot with parallel leg mechanism.

关 键 词：助老助残 步行机器人 并联腿机构 运动学建模 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]