组合式陆空两栖机器人的运动规划与仿真  

Motion Planning and Simulation of Combined Land-Air Amphibious Robot

作　　者：李凯林 韩宝玲[1] 罗庆生[2] 朱琛 LI Kai-lin;HAN Bao-ling;LUO Qing-sheng;ZHU Chen(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京理工大学机电学院,北京100081

出　　处：《机械设计与制造》2022年第6期245-248,253,共5页Machinery Design & Manufacture

摘　　要：为了遂行灾害救援和野外侦查等复杂作业任务,本文设计了一款将四足步行机器人和四旋翼飞行器有机组合的陆空两栖机器人。该机器人既能根据作业需求进行结构分离,以实现陆、空多领域的侦查,同时四旋翼飞行器又能自由起落在四足步行机器人躯体上进行组合作业,为多用途侦查提供了更多的可能性。四足步行机器人足端轨迹采用贝塞尔曲线,机器人机身质心规划成按直线运动,可保证机器人步行运动的流畅性、稳定性与灵活性。仿真验证的结果表明该组合式陆空两栖机器人运动特性十分优异,具有推广应用价值。In order to carry out complex tasks such as disaster rescue and field investigation,this paper designs a land-air amphibious robot that combines the four-legged walking robot and the quadrotor. The robot can not only perform structural separation according to operational requirements in order to realize land and air multi-field investigations. At the same time,the quadrotor can fly freely on the quadruped walking robot body to perform combined operations,providing more possibilities for multi-purpose investigation.The foot trajectory of the four-legged walking robot adopts the Bezier curve,and the center of the robot body is planned to move in a straight line,which can ensure the fluency,stability,and flexibility of the walking motion of the robot. The results of simulation and verification show that the combined land-air amphibious robot has excellent sport characteristics and has popularization and application value.

关 键 词：组合式机器人 四足步行机器人 四旋翼飞行器 运动规划 贝塞尔曲线 

分 类 号：TH16[机械工程—机械制造及自动化] TH12