多足机器人运动控制研究  

Research on Motion Control of Multi-Legged Robot

作　　者：秦海鹏 胡家信 朱小明 

机构地区：[1]长安大学工程机械学院,陕西西安710064

出　　处：《大众科技》2022年第11期26-29,共4页Popular Science & Technology

摘　　要：文章根据生物运动的控制方式,进行了仿生六足机器人的运动控制方式的研究。首先通过Solidworks软件完成仿跳蛛的六足机器人的机械本体设计,确定机器人本体的各项参数;之后根据仿生跳蛛的腿部结构模型,建立相应的D-H数学模型,通过分析跳蛛的运动方式和运动机理以及运用相关的数学知识,完成仿生跳蛛单腿的正逆运动学求解;最后建立基于MATLAB-Adams的虚拟样机仿真平台,完成基于位置控制的机器人直线运动的仿真分析。According to the method of biological motion, this paper studies the control method of the bionic hexapod robot. Firstly, the mechanical body design of the hexapod robot imitating jumping spider is completed through Solidworks, and the parameters of the robot body are determined;then according to the leg structure model of the bionic jumping spider, the corresponding D-H mathematical model is established. By analyzing the motion mode and mechanism of the jumping spider and using the relevant mathematical knowledge, the forward and inverse kinematics of the single leg of the bionic jumping spider is solved. Finally, a virtual prototype simulation platform based on MATLAB-Adams is established to complete the simulation analysis of robot linear motion based on position control.

关 键 词：六足机器人 D-H模型 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]