气动柔性关节六足机器人步态设计与实验  

Gait Planning and Kinematics of Bionic Hexapod Robot Based on Pneumatic Flexible Joint

作　　者：刘齐[1] 耿德旭[1] 赵云伟 刘洪波 刘荣辉[1] Liu Qi;Geng Dexu;Zhao Yunwei;Liu Hongbo;Liu Ronghui(School of Mechanic Engineering,Beihua University,Jilin 132021,China;Engineering Training Center of Beihua University,Jilin 132021,China)

机构地区：[1]北华大学机械工程学院,吉林吉林132021 [2]北华大学工程训练中心,吉林吉林132021

出　　处：《北华大学学报（自然科学版）》2018年第5期690-696,共7页Journal of Beihua University（Natural Science）

基　　金：吉林省自然科学基金项目(20150101026JC)

摘　　要：设计三自由度气动柔性关节六足机器人直行、原地回转以及定半径回转运动过程的步态实现方法,搭建运动学实验平台,验证所设计步态的合理性,分析最佳运动性能参数.实验结果表明:机器人步态设计合理可行,在动作频率为2 Hz,负载500 g,直行气压0.20 MPa,单次转体回转角度15°,定半径50 mm转弯下,运动性能最佳.The hexapod robot is researched by using pneumatic flexible joint,its different gaits of motor process is designed,such as walk straight,turn on the spot,turn along the fixed radius. Building the experimental platform of kinematics,testing the gait whether it is reasonable,and analyzing the best kinematic parameter. The result shows that the gait was reasonable,when robot＇s motion frequency was 2 Hz,load was 500 g,air pressure was 0. 20 MPa,rotation angle every time was 15°,fixed radius was 50 mm,the robot has best state of motion.

关 键 词：柔性关节 六足机器人 步态设计 运动性能 

分 类 号：TH138.5[机械工程—机械制造及自动化]