足式液压驱动机器人腿机构设计与分析  

Design and Simulation of Leg Mechanism of Quadruped Robots

作　　者：詹玉新 张玉华[2] 王晓明[1] 周多道[1] ZHAN Yu-xin;ZHANG Yu-hua;WANG Xiao-ming;ZHOU Duo-dao(College of Electrical Engineering,Chuzhou Vocational and Technical College,Chuzhou Anhui 23900,China;School of Mechanical Engineering,Anhui University of Technology,Maanshan Anhui 243002,China)

机构地区：[1]滁州职业技术学院电气工程学院,安徽滁州239000 [2]安徽工业大学机械工程学院,安徽马鞍山243002

出　　处：《兰州工业学院学报》2021年第1期56-61,共6页Journal of Lanzhou Institute of Technology

基　　金：滁州职业技术学院校级自然科学研究项目(YJY-2019-15)。

摘　　要：针对现有足式液压驱动机器人腿机构复杂、运动空间小、驱动力矩不稳定等问题,设计了一种足式液压驱动机器人腿机构.依据“D-H”法则对其进行运动学分析,并基于蒙特卡洛法得出在摆角范围内机器人足端工作区域.在规划重心单独调整的步态步行基础上,建立虚拟样机模型,依据ADAMS软件对其进行运动学仿真分析.结果表明:本文设计的足式液压驱动机器人腿机构能够完成行走,运动平稳,膝关节和髋关节力矩变化小,承载能力稳定,足端运动空间大.该腿机构符合理论设计及实际要求.Aiming at the problems of complex leg mechanism,small motion space and unstable driving torque of existing foot hydraulic driving robot,a leg mechanism of foot type hydraulic driving robot was designed.According to the"D-H"rule,the kinematic analysis was carried out,and the working area of the robot foot in the swing angle range was obtained which is based on the Monte Carlo method.On the basis of the gait walk with the center of gravity adjusted separately,the virtual prototype model was established,and the kinematics simulation analysis was carried out according to ADAMS software.The results show that:the leg mechanism of the designed foot hydraulic driven robot can complete walking,smooth movement,small change of torque of knee joint and hip joint,stable bearing capacity and large movement space of foot end.The leg mechanism conforms to the theoretical design and practical requirements.

关 键 词：液压驱动机器人 腿机构 蒙特卡洛法 虚拟样机模型 静态步行 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]