一种可重构四足移动机器人的几何约束及其抗倾覆能力  

Geometric Constraints and Anti-overturning Capability of a Reconfigurable Quadruped Mobile Robot

作　　者：柴超 李瑞琴[1] Chai Chao;Li Ruiqin(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械传动》2022年第4期127-134,共8页Journal of Mechanical Transmission

基　　金：山西省重点研发计划项目(国际合作,201803D421027,201903D421051)。

摘　　要：提出了一种在倾倒后具有自我恢复能力的四足并联移动机器人。该四足机器人的腿部结构由一种可重构空间六杆机构构成,该六杆机构由两个改进型球面五杆机构并联而成,具有两种不同的运动位形。其中,运动位形Ⅰ具有1R2T共3个自由度,满足四足机器人对腿部行走机构的自由度需求;运动位形Ⅱ具有2个自由度且工作空间很大,满足其翻身所需要的工作空间条件。运用螺旋理论对球面五杆机构和可重构六杆机构的两种运动位形进行了几何约束分析,这两种运动位形具有互锁性能。运用D-H法对可重构六杆机构进行了逆运动学分析并得到其工作空间,验证了四足机器人翻身的可实现性。分析了四足机器人在翻身时的步态,得出了其在倾倒后自我恢复时腿部电机转动角度与机器人机身重心的关系。在四足机器人的翻身过程中,其腿部的可重构六杆机构均处于运动位形Ⅱ。在Adams软件中验证了预设翻身步态的正确性与合理性。self-recovery ability after overturning is presented. The leg structure of the quadruped robot is composed of a reconfigurable spatial six-bar mechanism,which consists of two improved spherical five-bar mechanisms connected in parallel and has two different motion configurations,the motion configuration I has three degrees of freedom(1 R2 T),which satisfies the degrees of freedom requirements of the leg walking mechanism for the quadruped robot,and the motion configuration II has two degrees of freedom and a larger workspace,which satisfies the workspace conditions needed for the robot to rolling over. Based on screw theory,the geometric constraints of the spherical five-bar mechanism and the reconfigurable six-bar mechanism are analyzed. These two motion configurations have the interlocking performance. The inverse kinematics of the reconfigurable six-bar mechanism is analyzed using D-H method,and the workspace is obtained. The realizability of the robot rolling over is verified.The rolling over gait of the quadruped robot is analyzed. The relationship between the rotation angles of the leg motors and the center of gravity of the robot body is obtained when the quadruped robot recovers itself after overturning. During the rolling over process of the quadruped robot,the reconfigurable six-bar mechanisms of its legs are all in the motion configuration II. The dynamic model of the quadruped robot is established to verify the correctness and rationality of the preset rolling over gait.

关 键 词：并联机构 球面五杆机构 可重构六杆机构 四足机器人 几何约束 翻身步态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]