轮腿混合式四足机器人设计及运动学分析  

Design and Kinematics Analysis of Wheel-leg Hybrid Robot with Four-legs

作　　者：郑辉[1] 王敏[2] 王新杰[1] 王才东[1] 

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002 [2]中航工业郑州飞机装备有限责任公司,河南郑州450005

出　　处：《机械传动》2015年第1期57-61,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(50875246);河南省高校科技创新团队支持计划(2012IRTSTHN013);河南省创新型科技人才队伍建设工程

摘　　要：针对轮式机器人地形适应能力差与腿式机器人移动速度受限的问题,设计了一个既能爬行又能滚动行驶的轮腿混合式的四足机器人,采用钢丝绳驱动方式来实现机器人脚轮的工作状态转换。在对机器人进行整体设计和腿部机构详细设计的基础上,运用D-H法建立站立腿的运动学方程,并通过几何法验证了运动学方程的正确性。借助MATLAB软件,编程程序绘制了摆动腿的运动空间,并分析了机器人的越障能力。According to the problem that the wheeled robots have poor ability to adapt terrain, and the legged robot moving speed is limited, a wheel--leg hybrid robot with four--legs is designed, which can both crawl and roll. And the robot is driven by steel wire rope with torsional spring scheme to real- ize switching function of working manner. In the overall design of the robot, the legs are detailed de- signed. The kinematic equation of standing leg is established by the D--H method, and the correctness of the kinematic equations is verified by Geometric method. The swinging leg motion space is obtained by MATLAB software. And the ability of the robot obstacle is analyzed.

关 键 词：轮腿混合 四足机器人 运动模型 运动空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]