基于Klann连杆的球腿复合机器人的设计与研究  

Design and Research on a Ball-Legged Compound Robot Based on Klann Linkage

作　　者：倪聪 杨崇倡[1] 刘香玉 冯培[1] 张春燕[2] NI Cong;YANG Chongchang;LIU Xiangyu;FENG Pei;ZHANG Chunyan(Donghua University,Shanghai 201620,China;Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]东华大学,上海201620 [2]上海工程技术大学,上海201620

出　　处：《机器人》2020年第4期436-447,共12页Robot

基　　金：国家重点研发计划(2017YFB1304003);中央高校基本科研业务费专项资金(20D110323)。

摘　　要：结合球形和四足机器人两者优势,创新性地提出一种能适应多重作业环境的球腿复合移动机器人.在滚动模式下,对其进行直线滚动和侧滚转向分析,验证机器人转向的可行性.在四足模式下,以复数矢量法求得机器人足端坐标,并用Matlab绘制的足端轨迹曲线与Adams仿真曲线对比,验证了理论的正确性.以抬腿高度作为目标函数,由非线性规划算法求得足端轨迹最优解.采用质心投影法分析了机器人四足行走时的稳定性.建立仿真模型对机器人的四足直行、四足转向、四足爬坡和球体侧滚等运动模式进行仿真试验.同时,制作一台样机,验证了该机器人方案设计及各运动模式的可行性.Combining the advantages of spherical and quadruped robots, an innovative ball-legged compound mobile robot is proposed, which can adapt to various working environments. In the rolling mode, the linear rolling and roll steering are analyzed to verify the feasibility of robot steering. In the quadruped mode, the coordinates of foot tips are obtained by the complex vector method, and the foot trajectory curve drawn with Matlab is compared with the Adams simulation curve, which verifies the correctness of the theory. Taking the elevation of leg as the objective function, the optimal trajectory of the foot tip is obtained by the non-linear programming algorithm. The centroid projection method is used to analyze the stability of the robot in quadruped walking. A simulation model is established to test the quadruped straight movement, quadruped steering,quadruped climbing and sphere rolling modes. A prototype is manufactured and a series of experiments are conducted to verify the feasibility of the design and various motion modes.

关 键 词：球腿复合机器人 Klann连杆机构 复数矢量法 质心投影法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]