混联双平台错动式六足机器人步态分析及轨迹规划  

Gait Analysis and Trajectory Planning of a Hybrid Dual-platform Staggered Hexapod Robot

作　　者：王春臻 李瑞琴[1] 柴超 王志浩 樊文龙 Wang Chunzhen;Li Ruiqin;Chai Chao;Wang Zhihao;Fan Wenlong(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械传动》2023年第4期90-97,共8页Journal of Mechanical Transmission

基　　金：山西省重点研发计划项目(2022ZDYF082)。

摘　　要：提出了一种基于R&(2-UPU/2-RPR)混联机构的新型混联双平台错动式六足机器人,并对该机器人进行了结构设计。该六足机器人依靠2-UPU/2-RPR并联机构上、下两个平台的相互错动产生行走动作,其并联机构同时被用作连接两组3条腿的机身,从而使得该机器人能够以较少的驱动实现“3+3”的步态行走;该六足机器人的机身与载物平台以相对转动结构串联,可实现零半径360°灵活转弯。基于RPY变换矩阵求得了并联机构的位置逆解;通过分析该六足机器人腿部的相互干涉约束和驱动约束,得到了机器人的最大步长、在1个间歇周期中单次转动的最大零半径转角和运动轨迹曲线;分析了该六足机器人在平地行走和爬台阶时的步态;对其载重量进行的有限元分析结果证明,该六足机器人能够代替挑夫在崎岖山路上载物行走,具有广泛的应用前景。A novel hybrid dual-platform staggered hexapod robot based on R&(2-UPU/2-RPR)hybrid mechanism is proposed,and the structure of the robot is designed.The hexapod robot relies on the mutual dislocation of the upper and lower platforms of a 2-UPU/2-RPR parallel mechanism to generate the walking action.The parallel mechanism is also used as a body connecting two groups of three legs,so that the robot can achieve“3+3”gait walking with less driving.The body of the hexapod robot is connected in series with the loading platform by a relative rotation structure,which can realize 360°flexible turning with zero radius.The inverse position solution of the parallel mechanism is obtained based on the RPY transformation matrix.The maximum step length,the maximum zero radius turning angle of a single turn in an intermittent period of the hexapod robot and the trajectory curve of the hexapod robot are obtained by analyzing the mutual interference constraints of the legs and driving constraints of the hexapod robot.The gait of the hexapod robot walking on flat ground and climbing steps is analyzed.Finite element analysis results on its load capacity show that the hexapod robot can replace the porter and has a wide range of potential applications.

关 键 词：六足机器人 R&(2-UPU/2-RPR)混联机构 步态分析 轨迹规划 载重能力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]