凸轮连杆组合机构驱动的四足仿生马机器人运动仿真研究  

Research on Motion Simulation of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism

作　　者：王良文 张薇薇 李立伟 孟凡念 王团辉 杜文辽 Wang Liangwen;Zhang Weiwei;Li Liwei;Meng Fannian;Wang Tuanhui;Du Wenliao(Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment,School of Mechanical and Electrical Engineering,Zhengzhou University of Light Industry,Zhengzhou 450002,China)

机构地区：[1]郑州轻工业大学机电工程学院,河南省机械装备智能制造重点实验室,河南郑州450002

出　　处：《机械传动》2020年第9期27-33,共7页Journal of Mechanical Transmission

基　　金：河南省重点科技攻关项目(202102210086);2021年度河南省高等学校重点科研项目(21A460034);郑州轻工业大学博士基金项目(2016BSJJ009)。

摘　　要：提出了一种仿生马构型的四足步行机器人,以用于马术辅助治疗。其单腿系统利用凸轮连杆组合机构驱动,具有两个驱动自由度,能够实现足端轨迹跨距与高度的调整。论述了凸轮连杆组合机构驱动的仿生马机器人结构与工作原理,开展了机器人的运动仿真研究。利用SolidWorks软件建立机器人模型,并导入到Adams软件中进行动力学仿真分析。通过运动规划给定电机驱动函数,实现了仿生马机器人的行走运动。进一步分析得到了机器人在抬腿和落地运动过程中,足端与地面之间的接触力变化规律及相应的运动轨迹变化趋势。针对仿生马机器人运动仿真中整体出现的跳动现象,提出了采用电机变驱动规律以改良跳动的措施。研究结果为该类机器人参数的优化设计及实用化提供了理论支持。A quadruped walking robot with a bionic horse configuration for equestrian-assisted treatment is presented.A single leg system of the robot with two driving degrees of freedom(DOFs)is driven by a camlinkage combination mechanism,and it can adjust the span and height of the leg end-point trajectory.On the basis of introducing the structure and working principle of the quadruped bionic horse robot driven by a camlinkage combination mechanism,the movement simulation of the robot is carried out.Using SolidWorks software to establish the bionic horse robot model and import it into Adams software for dynamics simulation.By motion planning to set a motor driving function,the walking movement of the bionic horse robot is realized.From the further analysis,the change law of the contact forces between the foot end and the ground,and the corresponding trend of the motion trajectory are obtained in the process of the leg lift and landing.Aiming at body jumping phenomenon occurring in the simulation movement of the bionic horse robot,a measures of variable driving laws for the motor are put forward to improve the body jumping.The relevant research provides theoretical support for optimization design and application of the robot.

关 键 词：步行机器人 仿生马构型 凸轮连杆组合机构 运动仿真 变驱动规律 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]