六足仿生机器人自主爬行步态设计与仿真分析研究  

Study on Walking Gait Design and Simulation Analysis of Hexapod Bionic Robot

作　　者：刘玲 靳伍银[1] 王洪建 LIU Ling;JIN Wuyin;WANG Hongjian(School of Mechanical and Electronical Engineering,Lanzhou University of Technology,Lanzhou 730050,China;School of Mechanical Engineering,Chongqing Technology and Business University,Chongqing 400060,China)

机构地区：[1]兰州理工大学机电工程学院,兰州730050 [2]重庆工商大学机械工程学院,重庆400060

出　　处：《机械科学与技术》2021年第12期1885-1891,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(11372122);重庆市中小学创新人才培养工程(CY190802)。

摘　　要：为提高六足机器人对崎岖不平地势的适应能力,开发了一款基于树莓派视觉导航的六足仿生机器人,利用三维软件SolidWorks设计六足仿生机器人的机械结构;通过建立D-H坐标系和步态模型,对机器人进行了正-逆运动学方程推导,构建六足仿生机器人的运动学模型;运用多项式差值拟合对六足仿生机器人的摆动相和支撑相进行步态规划;使用MATLAB-ADAMS完成六足仿生机器人的位姿仿真,并进行六足仿生机器人实物验证。实验结果表明:该步态设计能有效对六足仿生机器人腿部运动轨迹进行跟踪,验证了步态设计的正确性和有效性,为改善多足类机器人行走提供有益参考。In order to improve the ability of hexapod robot to adapt to rough terrain,a hexapod bionic robot based on the raspberry PI visual navigation was developed.The mechanical structure of the hexapod bionic robot was designed with the 3D software SolidWorks.By establishing the D-H coordinate system and gait model,the forward and inverse kinematics equation of the robot and the kinematic model for the hexapod bionic robot was constructed.The gait planning of the swing and support phase of hexapod bionic robot was carried out with the polynomial difference fitting.MATLAB-ADAMS was used to jointly complete the pose simulation of the hexapod bionic robot,and the verification of the hexapod bionic robot was carried out.The experimental results show that the gait design can effectively track the leg trajectory of the hexapod bionic robot,which verifies the correctness and effectiveness of the gait design,and provides reference for improving the walking of the multi legged robot.

关 键 词：树莓派 六足仿生机器人 步态设计 运动学模型 位姿仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]