直驱式四足机器人的结构优化设计与研究  

Structural Optimization Design and Research of Direct-drive Quadruped Robots

作　　者：刘明源 陈平[1] 马建设 LIU Mingyuan;CHEN Ping;MA Jianshe(School of Mechanical Engineering,University of Science and Technology Beijing,Beijing,100083;Shenzhen International Graduate School,Tsinghua University,Shenzhen,518055)

机构地区：[1]北京科技大学机械工程学院,北京100083 [2]清华大学深圳国际研究生院,深圳518055

出　　处：《中国机械工程》2021年第18期2246-2253,共8页China Mechanical Engineering

基　　金：国家重点研发计划(2018YFC0810500)。

摘　　要：设计了一种直驱式四足机器人。基于弹簧倒立摆模型建立了腿部刚度特性模型,分析了腿部杆长比、姿态角与刚度特性的关系,讨论了杆长比对能量利用效率的影响。对五杆同轴腿进行正向运动学和逆向运动学的分析,推导出位置控制算法模型,并利用雅可比矩阵推导出腿部驱动电机输入电流与足端受力的关系。对搭建的直驱式四足机器人进行奔跑实验和跳跃实验,验证了该机器人结构设计的合理性。A direct-drive quadruped robot was proposed,and the leg stiffness characteristic model was established based on the spring inverted pendulum model,then the relationship among leg length ratio,attitude angle,and stiffness characteristics was analyzed.The influences of pole length ratio on energy utilization efficiency were discussed.Forward kinematics and inverse kinematics of the five-bar coaxial leg were analyzed,and the position control algorithm model was derived.The relationship between input current of leg drive motor and force on the foot was derived by Jacobian matrix.Running experiments and jumping experiments were carried out on the direct-drive quadruped robot,and the experiments verified the rationality of structural design for the robot.

关 键 词：移动机器人 空间连杆机构 姿态角 位置控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]