一种仿生四足机器人腿部机构的运动学分析与验证  

Kinematic Analysis and Verification of Leg Mechanism on a Bionic Quadruped Robot

作　　者：王晓磊[1] 刘祥 张强池 WANG Xiao-lei;LIU Xiang;ZHANG Qiang-chi(College of Mechanical Engineer and Automation,Liaoning University of Technology,Liaoning Jinzhou 121001,China)

机构地区：[1]辽宁工业大学机械工程与自动化学院,辽宁锦州121001

出　　处：《机械设计与制造》2023年第2期286-289,294,共5页Machinery Design & Manufacture

基　　金：辽宁省科学技术基金项目(2019-ZD-0689);辽宁工业大学博士启动基金项目(X2019003)。

摘　　要：提出了一种用于仿生四足机器人的新型串并混联腿部机构。首先介绍了四足机器人的结构组成,然后基于矢量分析法推导了该串并混联腿部机构的运动学正解与反解方程,并采用蒙特卡洛法求解了机器人腿部机构的工作空间,求出腿机构的速度雅克比矩阵。最后引入基于零冲击原则的足端轨迹,采用Adams软件对机器人单腿模型进行了虚拟样机仿真。仿真结果表明:各驱动电缸的速度变化曲线与理论计算结果一致,误差在±1×10^(-3)m/s范围内,验证了机器人运动学模型的正确性,间接验证了机器人位置方程和工作空间求解的正确性,为腿部机构的静力学分析和动力学分析及整机结构优化奠定了基础。A novel serial-parallel hybrid leg mechanism for bionic quadruped robot is proposed.Firstly,the structure and composition of the four-legged robot are introduced,and then the positive and negative kinematics equations of the serial-parallel hybrid leg mechanism are derived based on the method of vector analysis,the working space of the robot leg mechanism is solved by monte carlo method,the velocity jacobian matrix of the leg mechanism is obtained.Finally,the footend trajectory based on the zero impact principle is introduced and Adams software is used to simulate the single-leg model of the robot.The simulation results show that the velocity curve of each cylinder driving voltage is consistent with the theoretical calculation results,the error is within±1×10^(-3)m/s,which verifies the correctness of the robot kinematics model,indirectly verifies the correctness of the robots position equation and the working space,laid the foundation of the legs statics and dynamics analysis and the whole machine structure optimization.

关 键 词：仿生四足机器人 串并混联机构 运动学分析 工作空间 蒙特卡洛法 

分 类 号：TH16[机械工程—机械制造及自动化]