四足并联腿步行机器人动力学  

Dynamics of Quadruped Walking Robot with Parallel Leg Mechanism

作　　者：王洪波[1,2] 徐桂玲 胡星[4] 张典范[1] 张雄[1] 

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]燕山大学先进锻压成型技术与科学教育部重点实验室,秦皇岛066004 [3]北京北方微电子基地设备工艺研究中心有限责任公司,北京100176 [4]西安建筑科技大学机电工程学院,西安710055

出　　处：《机械工程学报》2012年第23期76-82,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(61075099)

摘　　要：基于模块化和可重构理论,提出一种助老助残四足/两足可重构并联腿步行机器人。该机器人既可组合成两足步行机器人,亦可作为四足步行机器人使用。运用影响系数理论和虚功原理,对四足步行机器人静态步行时的摆动腿和机体机构进行动力学建模,导出摆动腿的动力学方程和机体机构超确定输入下的协调方程,按加权最小二乘法对四足并联腿步行机器人机体机构的动载进行最优协调分配,解决了机器人在行走过程中各分支运动约束而产生的动力耦合问题。Based on modularization and reconfigurable theory, a biped/quadruped reconfigurable walking robot with parallel leg mechanism for the elderly and the disabled is presented. The robot not only can be combined into a biped walking robot, but also can be used for a quadruped walking robot. Applying to influence coefficient theory and principle of virtual work, the dynamic modeling of the swing leg and the body mechanism are established under static walking condition, and then the dynamic equation for swing leg and the coordinate equation under over-determinate inputs for the body mechanism are derived. By using the weighted least squares method, the optimal coordination distribution of dynamic load for the quadruped walking robot is analyzed, which solves the dynamic coupling problem caused by the branches＇ constraint of the robot in the walking process.

关 键 词：并联腿机构 动力学 超确定输入 最优协调分配 

分 类 号：TP243[自动化与计算机技术—检测技术与自动化装置]