三角步态下六足机器人运动分析  

Locomotion Analysis for Hexapod Robot Based on Tripod Gait

作　　者：刘琰 郑璐颖 孙浩洋[1] 马炳然 张盛晗 LIU Yan;ZHENG Luying;SUN Haoyang;MA Bingran;ZHANG Shenghan(School of Electromechanic Engineering,Qingclao University,Qingclao 266071,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2018年第3期38-42,46,共6页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：国家自然科学基金资助项目(51575286和50905090);山东省自然科学基金资助项目(2014ZRB01503)

摘　　要：为实现以关节转角和转速的角度分析三角步态下六足机器人的运动,降低运动过程中支撑相足末端相对距离的波动,在仿MorpHex六足机器人虚拟样机的基础上,本文根据运动学理论,推导六足机器人足末端的空间坐标变化规律,通过对三角步态下六足机器人位姿的分析,获得运动约束条件,推导出不同足关节转角关系。以角速度离散化的方法处理足末端位移差,通过Matlab求解离散后各个关节转角速度及离散前后支撑相足末端的相对距离波动,在ADAMS软件中,模拟两种不同环境下六足机器人运动情况,并得到六足机器人的运动位移曲线,通过分析位移曲线,六足机器人关节转角和转速的规划方法可用于虚拟样机。该研究为六足机器人实现简单运动提供理论参考。In order to analyze the motion of six-legged robots in triangular gait from the perspective of joint rotation angle and rotation speed, and to reduce the fluctuation of the relative distance between the supporting phase and the foot in the movement process, based on the virtual prototype of MorpHex six-legged robot and based on the kinematics theory. The kinematic constraints were obtained based on the analysis of the spatial coordinates of the six-legged robot＇s foot tip by analyzing the position and pose of the six-legged robot under the triangle gait, and the relationship between different foot joint rotation angles was deduced. Displacement difference of the foot was dealt with by the method of angular velocity discretization. The Matlab software was used to solve the discrete angular velocity of each joint and the relative distance fluctuation between the front and the rear of the supporting foot. The motion of the hexapod robot under two different environments was simulated in ADAMS software. This obtains the six-foot robot＇s movement displacement curve, and analyzes the displacement curve six-foot robot joint rotation angle and rotation speed planning method for virtual prototype feasibility.

关 键 词：六足机器人 三角步态 离散化 ADAMS 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]