爬行类四足仿生机器人的数字化建模与应用  

Digital model and application of the reptile-like quadruped bionic robot

作　　者：王良文[1] 李群涛[1] 王新杰[1] 过金超[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

出　　处：《轻工学报》2016年第2期87-96,共10页Journal of Light Industry

基　　金：国家自然科学基金项目(50875246);河南省高校科技创新团队支持计划(2012IRTSTHN013);河南省重点科技攻关项目(152102210145)

摘　　要：爬行类四足仿生机器人具有冗余驱动的特征,其正运动学分析位移过程十分困难.基于四足步行机器人构型爬行类四足仿生机器人数字化模型的建模技术为:通过数字模型,驱动机器人的尺寸与主动关节角度,使机器人运动到相应位置.在确定了机器人模型的位置和姿态后,进行草图绘制建立坐标系.利用Solid Works中的测量函数,进行参数的测定,结合齐次变化矩阵,可以获得机器人位置和姿态的解.该方法用于机器人的运动学分析时,不需要进行详细的运动学公式的推导,只需要明确机器人各个零部件之间的约束关系,确定主动约束和被动约束即可.该方法的思想可以广泛应用于具有冗余驱动的机构运动分析中.Because of redundant driving characteristics of the reptile-like quadruped bionic robot,displacement analysis process of forward kinematics was very difficult. The modeling technology of digital model for the reptile-like quadruped bionic robot base on the quadruped bionic robot configuration was as follows： frame size and active driving angle were driven by parameterized model,to make the robot move to the corresponding position. The coordinate system was built in preliminary sketch after the position and posture of robot were confirmed. The parameters were measured by Solid Works measuring functions and then the position and posture result of robot were obtained through combining homogeneous matrices. When the method was applied to analyze kinematics of robot,rather than the derivation of detailed kinematics formula,only the active constraint and passive constraint relationship among the parts of robot was required. The idea of the method could be used widely for kinematics analysis of redundant driving structure.

关 键 词：爬行类四足仿生机器人 机器人构型 数字化模型 冗余驱动 

分 类 号：TS04[轻工技术与工程]