多足仿生步行机器人的机构设计与功能分析  

Mechanism Design and Functional Analysis of Multi-Legged Walking Robot

作　　者：祝小梅[1] 蔡勇[1] 臧红彬[1] 

机构地区：[1]西南科技大学制造过程测试技术省部共建教育部重点实验室,四川绵阳621010

出　　处：《机械设计与制造》2013年第9期35-38,共4页Machinery Design & Manufacture

基　　金：西南科技大学青年基金项目资助(11zx3149)

摘　　要：设计了一种新型的多足仿生步行机器人的机械结构,运用D-H齐次坐标变换矩阵建立其运动学方程,并以最大越障能力为目标函数以连杆长度为约束函数对腿部机构进行优化,得出最佳多足仿生步行机器人的机械结构。基于虚拟样机技术对该多足仿生步行机器人进行爬坡能力、通过复杂路面能力、转弯步态规划等功能分析。仿真结果表明该多足仿生步行机器人机构具有自由度少、控制简单、运动灵活、爬坡能力良好、地形适应性强、转弯稳定性好等特点。A multi-legged walking robot＇s mechanical structure is designed, and its kinematical equation is established by D- H homogeneous coordinate transformation matrix. With the maximum capacity of obstacle to the objective function and with the link lengths to constraint function to optimize the legs institutions, it obtains the best mechanical structure of multi-legged walking robot. Based on virtual prototyping technology, it optimizes the leg mechanism of the multi-legged walking robot, and researches its ability of climbing, through the rough pavement and swerve of the multi-legged walking robot. The results show that the multi-legged walking robot has some features including fewer freedoms, easy control, flexible movement, good climbing ability, good terrain adaptability and stable turn ability.

关 键 词：多足仿生步行机器人 虚拟样机 运动学分析 优化设计 功能分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]