基于探索者平台的仿牛越障机器人实验研究  

Experimental Research of Cattle Bionic Obstacle Surmounting Robot Based on Explorer Platform

作　　者：刘睿铭 李三平[1] 苏泉铭 赵昶勋 蔡佳明 LIU Rui-ming;LI San-ping;SU Quan-ming;ZHAO Chang-xun;CAI Jia-ming(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040 China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《科技创新与生产力》2022年第11期117-122,共6页Sci-tech Innovation and Productivity

基　　金：黑龙江省大学生创新训练项目(S202010225132)。

摘　　要：基于现有的仿生四足机器人,创新设计了仿牛越障机器人。在阐述研究背景和意义、介绍“探索者”机器人实验平台的基础上,分析了牛类结构及牛类运动,探索规划仿牛越障机器人的步态;构建了仿牛越障机器人单腿的腿部结构和整机的总体结构的三维模型,依据模型使用“探索者”机器人实验平台的零件进行了实物搭建;在Denavit-Hartenberg(DH)法的基础上,建立了驱动腿单腿的腿部连杆坐标系,进行了正运动学问题分析和逆运动学问题分析;通过单片机集成开发环境(IDE)编程,实现了对牛类的步态模拟及程序设计。Based on the existing bionic quadruped robot, a cattle bionic obstacle surmounting robot is innovatively designed.On the basis of expounding the research background and significance and introducing the "Explorer" robot experimental platform, the cattle structure and cattle movement are analyzed, and the gait of the cattle bionic obstacle climbing robot is explored and planned;a three-dimensional model of the leg structure of the cattle bionic obstacle surmounting robot and the overall structure of the whole machine is constructed, and the parts of the "Explorer" robot experimental platform are used for physical construction according to the model;on the basis of Denavit-Hartenberg(DH) method, the linkage coordinate system of the driving leg is established, and the forward kinematics problems and inverse kinematics problems are analyzed;through the integrated development environment(IDE) programming, the gait simulation and program design of cattle were realized.

关 键 词：仿生学 机器人 仿牛越障机器人 越障 肢体运动规律 运动控制 

分 类 号：Q811[生物学—生物工程] TP242[自动化与计算机技术—检测技术与自动化装置]