串并混联四足机器人腿机构的设计及运动学分析  

Structure Design and Kinematics Analysis on the Serial-Parallel Leg of Quadruped Robots

作　　者：马广英 王光明 刘润晨 姚云龙[2] MA Guangying;WANG Guangming;LIU Runchen;YAO Yunlong(School of Mechanical,Electrical and Information Engineering,Shandong University,Weihai 264209,Shandong,China;Research Center of Mechanics and Mechatronic Equipment,Shandong University,Weihai 264209,Shandong,China)

机构地区：[1]山东大学机电与信息工程学院,山东威海264209 [2]山东大学力学与机电装备联合工程技术研究中心,山东威海264209

出　　处：《华南理工大学学报(自然科学版)》2021年第1期103-112,共10页Journal of South China University of Technology(Natural Science Edition)

基　　金：山东省重点研发计划项目(2017GGX30112);山东省自然科学基金资助项目(ZR2017MEE045,ZR2020ME112)。

摘　　要：为了提高四足机器人的运动灵活性和复杂环境适应性,设计了一种R+{2-UPR+RPR}腿机构,并利用螺旋理论分析得知该机构具有两转动和一移动3个自由度;接着,根据空间中构件和运动副的位置关系,推导出运动学反解和正解方程,求解驱动构件速度、加速度;然后,借助Matlab计算软件和ADAMS仿真软件,通过对比运动学正反解的理论计算结果与仿真结果来验证正反解模型的准确性;最后,通过对机器人单腿的运动仿真,得到腿部机构的运动轨迹和速度变化情况,并对腿部机构的工作空间进行分析,得到其足端的可达工作范围及运动特点。结果表明,该腿部机构具有较好的工作适应性和运动灵活性,关节数少且较独立。An R+{2-UPR+RPR}leg mechanism was designed to improve the mobility and adaptability of qua-druped robots in complex environment.The spiral theory analysis showed that the mechanism has 3 freedom degrees of two rotations and one movement.Then,the inverse kinematics solution and the positive solution equation were derived based on the position relationship between the member and the motion pair in space,and the velocity and acceleration of the driving member were solved.Then,with the help of Matlab calculation software and ADAMS simulation software,the accuracy of the positive and negative solution model was verified through the comparison of kinematics positive and negative solution theoretical calculation results and simulation results.Finally,the motion trajectory and velocity changes of the leg mechanism were obtained through the motion simulation of the robot's single leg.And the working space of the leg mechanism was analyzed to obtain the working range and motion characteristics of the foot end.The results show that the proposed leg mechanism with less independent joints has better working adaptability and movement flexibility.

关 键 词：R+{2-UPR+RPR}腿机构 串并混联 螺旋理论 运动学分析 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]