双足机器人水上行走机理研究及推进机构设计  

Research on Dynamical Mechanism and Propulsion System of a Biped Robot Walking on Water

作　　者：徐林森[1,2] 梅涛[1] 宦娟[3] 骆敏舟[1] 魏鲜明[1,2] 曹凯[2,3] 

机构地区：[1]中国科学院合肥物质科学研究院,安徽合肥230031 [2]常州先进制造技术研究所,江苏常州213164 [3]常州大学,江苏常州213016

出　　处：《机器人》2013年第3期257-262,共6页Robot

基　　金：围家自然科学基金资助项目(50905175);国家973计划资助项目(2011CB302106)

摘　　要：借鉴蛇怪蜥蜴双足水上行走功能,分析了双足机器人水上行走动力学机理.结合平面四杆机构运动方程和坐标转换公式,分析Watt-Ⅰ型平面机构运动方程,用以模拟蛇怪蜥蜴的脚掌轨迹,设计了双足水上行走机器人推进机构.以轨迹重合度为目标函数进行杆长优化设计对机器人进行动力学分析,选取合适的驱动和传动系统,制作出双足水上行走样机,测得水面对机器人的反作用力曲线.实验结果表明,该推进机构能够产生与蛇怪蜥蜴类似的驱动力,其值大小约为1.3N.由此可以看出,该推进机构能够满足双足机器人水上行走的需求.The basilisk lizard＇s function of walking on water is used to analyze the dynamical mechanism of a biped robot which has the same function.The movement equations of the Watt-I planar linkages are deduced by combining the movement equations of the planar four-bar mechanism and the coordinate transformation equations,in order to simulate the foot trajectories of the basilisk lizard,and the propulsion system of the biped robot walking on water is designed.The links＇ parameters are optimized by taking the trajectories overlap ratio as the objective function.The dynamics analysis on the robot is carried out to select the appropriate drive and transmission system.At last a real robot prototype is manufactured, and curves of the reacting force from water are measured.The experiment results show that the propulsion mechanism can generate the similar propulsion force with the force generated by basilisk lizard when it is walking on water,whose value is about 1.3 N.It is shown that the propulsion system can satisfy the function requirements of biped robots walking on water.

关 键 词：双足机器人 水上行走 推进机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]