液压驱动六足机器人步行腿性能  

Performance of walking leg of a hydraulically actuated hexapod robot

作　　者：刘逸群[1] 邓宗全[1] 赵亮 丁亮[1] 佟志忠[1] 高海波[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080 [2]内蒙古第一机械集团有限公司科研所,内蒙古包头014030

出　　处：《吉林大学学报（工学版）》2015年第5期1512-1518,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(51275106);'973'国家重点基础研究发展计划项目(2013CB035502);高等学校学科创新引智计划项目(B07018);教育部新世纪优秀人才支持计划项目(NCET-10-0055)

摘　　要：针对所设计的一种基于液压驱动的六足机器人步行腿,建立了腿部运动学模型并分析了其足端运动空间。构建了腿部性能测试系统,设计了性能测试台控制系统硬件,并开发了运动测试软件。试验结果表明:腿部单关节的运动跟踪误差和关节协调运动跟踪误差均小于1°,关节动态特性满足频率0.5Hz时幅值衰减小于-3dB,验证了步行腿性能能够满足六足机器人的运动需求。A kinematic model of the leg is established and the workspace of the foot is analyzed based on the walking leg designed for a hydraulically actuated hexapod robot.The performance testing system of the leg is established,the hardware of the controller of the testing system is designed,and the software for motion testing is developed.Experimental results show that the movement tracking error of single joint and the coordinate motion tracking error of joints are less than one degree.Dynamic characteristics of the joint meet that amplitude attenuation is less than-3dB when the frequency is0.5Hz.It is verified that the performance of the waling leg meets the motion requirements of the hexapod robot.

关 键 词：自动控制技术 六足机器人 液压驱动 步行腿 性能测试 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]