新型四足步行机器人串并混联腿的轨迹规划与仿真研究  

Research on Trajectory Planning and Simulation on the Serial-parallel Leg of a Novel Quadruped Walking Robot

作　　者：高建设[1] 王玉闯 刘德平[1] 王保糖 GAO Jianshe;WANG Yuchuang;LIU Deping;WANG Baotang(Mechatronics Institute,Zhengzhou University,Zhengzhou 450001,China)

机构地区：[1]郑州大学机电一体化研究所,河南郑州450001

出　　处：《郑州大学学报（工学版）》2018年第2期23-27,38,共6页Journal of Zhengzhou University（Engineering Science）

基　　金：国家自然科学基金资助项目(U1304510);郑州大学优秀青年教师发展基金资助项目(1421321076)

摘　　要：为了提高四足机器人的载重自重比,综合了一种新型串并混联四足步行机器人,并针对其运动过程的冲击问题,使用了一种基于高次多项式的零冲击足端轨迹规划算法.该机器人每条腿均是由3-RRR并联机构串联一个转动机构组成.此机构利用D-H的方法建立坐标系,利用足端轨迹规划算法在世界坐标系对串并混联腿的摆动相进行足端轨迹规划,支撑相利用匀速直线运动进行规划.根据反解模型,计算出足端在髋关节全局坐标系下的足端轨迹.然后,基于混联腿的运动学逆解用Matlab编程计算得出串并混联腿的四个驱动函数.最后,把单腿模型导入到ADAMS中,添加约束、驱动后,利用ADAMS对串并混联腿进行运动仿真.结果显示,该混联腿的足端实现了零冲击规划的目标,且足端轨迹的速度、加速度平滑.由此表明仿真结果与理论结果相符,验证了该算法的合理性和有效性,为进一步研究四足机器人的步态规划和运动控制奠定了基础.In order to improve the payload-weight ratio,a novel quadruped walking robot was presented.And aiming at the impingement in the process of movement of the quadruped walking robot,a low contact compact trajectory planning method using high order polynomial curve was used.Each leg of the robot was composed of a 3-RRR parallel mechanism which was connected in series with a rotating mechanism.The coordinate system was established based on D-H method.Based on the low contact compact algorithm and the uniform linear motion,the trajectory planning was carried out respectively for the swing phase and the support phase of the foot end of the serial-parallel leg.The trajectory of the foot end in the global coordinate system of the hip joint was calculated according to the inverse solution model.The four driving function of the leg was calculated using Matlab based on the inverse kinematics solution of the hybrid leg s kinematics model.Finally,the leg model was exported into the ADAMS,the motion simulation of the hybrid leg was carried out by using ADAMS after adding constraints and the drive.The result showed that the foot end of the hybrid leg achieved the goal of low impact,and the curve of foot end of the speed and acceleration was smooth.The simulation results were consistent with the theoretical results and the rationality and validity of the algorithm were verified.This research provided the foundation for the further research of robot s gait planning and motion control.

关 键 词：串并混联 四足步行机器人 足端轨迹规划 MATLAB ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]