四足机器人五杆单腿机构性能分析及轨迹规划  

Performance Analysis and Trajectory Planning of the Quadruped Robot Based on Five-Bar Leg

作　　者：董小闵[1] 安国鹏 于建强 彭霄 DONG Xiao-min;AN Guo-peng;YU Jian-qiang;PENG Xiao(School of Mechanical Engineering,Chongqing University,Chongqing 400044,China;School of Automation,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆大学机械工程学院,重庆400044 [2]重庆大学自动化学院,重庆400044

出　　处：《机械设计与制造》2022年第8期292-296,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51675063);国防科技创新项目(2018CDGFJX0023)。

摘　　要：针对四足机器人串联腿部机构承载能力较低、并联机构足端可达工作区域较小的问题,提出一种基于五杆闭链机构四足机器人腿部构型,建立其运动学模型,在此基础上对其承载性能以及灵巧性分析,通过基于达朗贝尔原理的动态静力法进行机构动力分析,并与串联机构对比,验证该机构的低能耗与大承载能力,通过对机构灵巧性的分析,确定其速度传递性较好的工作范围,采用改进后的复合摆线法对单腿足端轨迹进行规划,选取最佳初始姿态使得足端轨迹包含在灵巧性较高的区域,最后建立单腿机构虚拟样机并搭建单腿机构的实物平台,通过单腿轨迹仿真与实验,验证了此腿部机构设计的可行性以及轨迹规划的有效性。With the problems of low load carrying capacity of the serial leg mechanism and the small reachable work area of the parallel mechanism of the quadruped robot,a leg configuration of a hybrid quadruped robot based on a five-bar closed chain parallel mechanism is proposed.For this configuration,the kinematic model is established.Based on this load carrying capacity and dexterity are analyzed.The dynamic analysis of the mechanism is through the dynamic static method based on Dalambert principle,and the result is compared with the serial mechanism to verify the large load capacity of this mechanism.The working range with good speed transferability is determined through the analysis of the speed dexterity.The improved compound cycloid method is used to plan the single-leg foot trajectory.The best initial posture is selected so that the foot-end trajectory is included in the area with higher dexterity.Finally,the virtual prototype and the physical platform of the single-leg mechanism was built.Through the simulation and experiments of the single-leg trajectory,the feasibility of the design of the leg mechanism and the effectiveness of the trajectory planning are verified.

关 键 词：五杆闭链机构 运动学模型 动态静力学 灵巧性 轨迹规划 

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]