蜘蛛机器人梯度投影法的运动分析和仿真  

Motion Analysis and Simulation of Gradient Projection Method for Spider Robot

作　　者：唐军[1] 秦智 杨书麟 TANG Jun;QIN Zhi;YANG Shu-lin(School of Mechanical&Electrical Engineering Jiangxi University of Science and Technology,Jiangxi Ganzhou 341000,China)

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《机械设计与制造》2021年第12期268-272,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金(51864015);江西教育厅科技项目(GJJ170521)。

摘　　要：通过对蜘蛛结构及运动特性分析,设计了一款四足爬行机器人的结构模型;针对腿部机构构建的坐标系,对机器人的腿部模型进行运动分析,结合机器人的关节变量与足端对应的映射关系建立仿蜘蛛机器人足尖的步态轨迹方程;利用MDH法建立仿蜘蛛机器人的运动学模型,并通过adams对其进行模拟仿真;同时,利用梯度投影算法求解仿蜘蛛机器人的运动学方程,结果表明该机器人在空间的合成位移分布与复合摆线相符。通过matlab将机器人运动轨迹模型导入adams进行步态规划分析,结果表明机器人腿部的速度呈现一个个脉冲的形式,时间间隔小,运动速度均匀平稳。从而验证了运动控制方程是正确的,结构设计是合理的,仿生机器人的动作分解是可行的。Based on the analysis of spider structure and motion characteristics,a structural model of a four-legged crawling robot was designed. For the coordinate system constructed by the leg mechanism,the motion analysis of the robot’s leg model was combined with the joint variable of the robot and the foot end. The mapping relationship establishes the gait trajectory equation of the spider-like robot’s toe;the kinematics model of the spider-like robot was established by MDH method,and it was simulated by adams. At the same time,the kinematic equation of the spider-like robot was solved by the gradient projection algorithm. The results show that the synthetic displacement distribution of the robot in space was consistent with the composite cycloid. The trajectory planning analysis of the robot motion trajectory model was introduced into the adams through matlab. The results show that the speed of the robot legs was in the form of a pulse,the time interval is small,and the motion speed was even and stable. It is verified that the motion control equation is correct,the structural design is reasonable,and the motion decomposition of the bionic robot is feasible.

关 键 词：蜘蛛机器人 MDH坐标 梯度投影法 ADAMS 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]