双半转腿式机器人运动稳定性分析  

The movement stability analysis of double-half-rotation legged robot

作　　者：徐学坦 汪永明[1] 卢琼琼[1] 宋嵩[1] 孙应秋 

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243032

出　　处：《机械设计与制造工程》2016年第4期15-19,共5页Machine Design and Manufacturing Engineering

基　　金：安徽省高校自然科学研究重大项目(JK2015ZD11);国家级大学生创新创业训练计划项目(201410360027)

摘　　要：提出一种新型的双半转腿式机器人,主要由车体支架、两条轮腿及其轮腿支架组成。根据双半转腿式机器人的步行运动特点,将机器人的一个完整步行周期分为4腿支撑阶段和双腿支撑阶段。针对双腿支撑阶段的稳定性问题,提出3点假设,将机器人的跨步过程简化成一个支点不变、摆长不断变化的倒立摆模型。以机器人平地行走为例,分别建立机器人各杆件的质心坐标方程,并推导出机器人的质心运动方程。根据机器人倒立摆模型,分析影响其运动稳定性的因素。以此为基础,利用MATLAB软件对机器人平地行走时的质心姿态、质心速度以及后跨步杆端部位姿进行仿真,仿真结果表明,双半转腿式机器人的平地运动是稳定的。It proposes a new kind of double- half- rotation legged robot,which is mainly composed of a body bracket,two walking legs and corresponding leg brackets. According to its kinematic characteristic,it divides the striding period of the double- half- rotation legged robot into four- leg- support phase and two- leg- support phase. For the stability analysis of the two- leg- support phase,it presents three assumptions. The striding process of the robot is simplified as an inverted pendulum model with a constant fulcrum and variable pendulum length. Takes the robot walking on flat ground as example,it establishes the mass center motion equation of each rod and derives the mass center position equation of the robot. Based on analysis of the inverted pendulum model of the robot,the factors that affect the movement stability of the robot are not only related to the mass center position,but also related to the velocity of the mass center. According to the inverted pendulum model,it obtains the mass center position,velocity curves of the robot in MATLAB,simulates the position curve of the rear striding leg rod end point. The results show that the double- half- rotation legged robot is stable when walking on flat ground.

关 键 词：腿式机器人 倒立摆模型 稳定性 平地行走 仿真分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]