基于复合摆线轨迹的四足机器人稳定性分析  

Stability analysis of quadruped robot based on compound cycloid trajectory

作　　者：张良安[1] 唐锴 李鹏飞 桂文珺 赵永杰[2] 王孝义[1] ZHANG Liang′an;TANG Kai;LI Pengfei;GUI Wenjun;ZHAO Yongjie;WANG Xiaoyi(School of Mechanical Engineering,Anhui University of Technology,Maanshan,Anhui 243002,China;College of Engineering,Shantou University,Shantou,Guangdong 515063,China)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243002 [2]汕头大学工学院,广东汕头515063

出　　处：《江苏大学学报（自然科学版）》2022年第1期62-66,74,共6页Journal of Jiangsu University：Natural Science Edition

基　　金：安徽省重点研究与开发计划项目(201904b11020030);广东省普通高校省级重大科研项目(2017KZDXM036);佛山市科技创新团队专项(2018IT100052)。

摘　　要：为了缩短四足机器人的研发周期,进一步提高其运动稳定性,基于复合摆线轨迹对不同步态周期下四足机器人的稳定性进行了研究.给出了四足机器人结构设计,并建立运动学模型进行运动学分析.采用复合摆线法进行轨迹规划,然后进一步结合运动学模型得到各关节驱动函数,并将其导入到ADAMS模型中设置相关约束进行动力学仿真.将机体翻转角作为主要性能评价指标,通过适当调整步态周期对不同步态周期下的四足机器人稳定性进行测试和分析,并通过物理样机对所提方法进行验证.结果表明,当步态周期为1.3 s时,机体最大翻转角较优化前下降1.014°,且质心波动范围也随之减小,从而验证了基于目标轨迹下的四足机器人可通过适当调整步态周期进一步提高其稳定性.To shorten the development cycle of quadruped robot and further improve its motion stability,the stability of quadruped robot under different gait periods was investigated based on compound cycloid trajectory.The structure design of quadruped robot was completed,and the kinematics model was established for kinematic analysis.The trajectory planning was carried out by the compound cycloid method,and the driving function of each joint was obtained by combining the kinematics model.The driving function was imported into the ADAMS model to set relevant constraints for dynamic simulation.The body turn angle was taken as the main performance evaluation index,and the stability of quadruped robot under different gait cycles was tested and analyzed by adjusting gait cycles appropriately.The proposed method was verified by physical prototype.The results show that when the gait period is 1.3 s,the maximum rotation angle of the body is decreased by 1.014°,and the fluctuation range of mass center is also decreased,which verifies that the stability of quadruped robot based on target trajectory can be further improved by adjusting the gait period appropriately.

关 键 词：四足机器人 稳定性 复合摆线 步态周期 ADAMS 动力学仿真 机体最大翻转角 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]