凸轮连杆组合机构驱动的四足仿生马机器人运动学建模与分析  

Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism

作　　者：杨许[1] 王若澜 王良文 李立伟 王团辉 Yang Xu;Wang Ruolan;Wang Liangwen;Li Liwei;Wang Tuanhui(Professional Technology Institute,Huanghe Science and Technology College,Zhengzhou 450005,China;International Education College,Zhengzhou University of Light Industry,Zhengzhou 450002,China;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]黄河科技学院职业技术学院,河南郑州450005 [2]郑州轻工业大学国际教育学院,河南郑州450002 [3]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》2021年第1期77-84,共8页Journal of Mechanical Transmission

基　　金：河南省重点科技攻关项目(202102210086);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。在论述该仿生马机器人结构与工作原理的基础上,进行了机器人的运动学建模与分析。利用环路矢量法建立各机构运动学方程,利用牛顿迭代法对非线性位移方程进行了求解。采用Matlab开发了求解机器人行走腿位移、速度、加速度运动的统一程序。通过实例计算,对采用电机等速驱动机器人产生的行走腿端点位移、加速度特性进行了分析。为后续优化机器人性能奠定了基础。A quadruped walking robot with a bionic horse configuration for equestrian-assisted treatment is presented.A single leg system of the robot is driven by a cam-linkage combination mechanism.On the basis of introducing the structure and working principle of the quadruped bionic horse robot,the kinematics modeling and analysis of the robot are carried out.The kinematics equations of each mechanism are established by loop vector method,and Newton iteration method is used to solve the nonlinear displacement equations.The Matlab is used to develop a unified program to solve the displacement,velocity and acceleration of the moving leg of the robot.By an example,the characteristics of the endpoint displacement and acceleration of the moving leg for the robot driven at the same speed are analyzed.The relevant research lays a foundation for the subsequent optimizing the performance of the robot.

关 键 词：步行机器人 仿生马构型 凸轮连杆组合机构 运动学建模 分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]