曲柄摇杆四足机器人实验教学平台设计  

Design of Experimental Teaching Platform for Crank-rocker Quadruped Robot

作　　者：商德勇[1,2,3] 樊虎 白龙[4] SHANG Deyong;FAN Hu;BAI Long(School of Mechanical,Electronic and Information Engineering,Ministry of Emergency Management,China University of mining and Technology(Beijing),Beijing 100083,China;Institute of intelligent Mining and Robotic,Ministry of Emergency Management,China University of mining and Technology(Beijing),Beijing 100083,China;Key Laboratory of Intelligent Mining and Robotics,Ministry of Emergency Management,China University of mining and Technology(Beijing),Beijing 100083,China;School of Mechanical and Electrical Engineering,Beijing Information Science and Technology University,Beijing 100192,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083 [2]中国矿业大学(北京)智慧矿山与机器人研究院,北京100083 [3]中国矿业大学(北京)煤矿智能化与机器人创新应用应急管理部重点实验室,北京100083 [4]北京信息科技大学机电工程学院,北京100192

出　　处：《实验室研究与探索》2023年第1期184-189,共6页Research and Exploration In Laboratory

基　　金：国家自然科学基金面上项目(52174154);国家自然科学基金创新研究群体项目(52121003);中央高校基本科研业务费专项资金资助(2022YQJD21);中国矿业大学(北京)本科课程教学改革项目(J210405)。

摘　　要：为适应新工科人才培养的要求,针对机械类专业课程实践教学环节教学方法陈旧等问题,基于曲柄摇杆机构设计了一款四足机器人实验教学平台,用于机械原理、机械设计等主干课程的实践创新教学环节。该四足机器人的结构设计方案源于哺乳动物运动过程,分析了其运动方式及不同腿部结构对于运动过程的影响,确定机器人机构运动方案;以D-H矩阵变换为数学工具,建立了机器人运动学模型;考虑实验平台应满足较高的经济性和互换性要求,最大程度采用了标准件的数量。对机器人进行了虚拟仿真分析,完成直线与奔跑两种状态的步态规划,实现了四足机器人的整体协调运动,验证了设计的合理性。实践表明,该教学平台的成功设计,丰富了机械类核心课程实践教学内容,对于提高学生的动手实践能力和思维创新能力有着显著的效果。In order to meet the requirements of the training of new engineering talents,aiming at the problems of outdated teaching methods in the practical teaching,a quadruped robot experimental teaching platform is designed by using crank-rocker,and is applied to the practical innovation teaching such as mechanical principle and mechanical design.This study focuses on the movement process of mammals,analyzes the mode and the influence of different structures,and determines the motion scheme.Using D-H matrix transformation,the kinematics model is established.Considering the requirements of high economy and interchangeability,and the number of standard parts should be increased,the structure design is completed.Virtual simulation analysis is carried,the straight and turning gaits are simulated,which verifies the rationality of the design.The experiment proves that the teaching platform has remarkable effect on improving students'practical ability and thinking innovation ability,and explores a new mode for experimental teaching.

关 键 词：曲柄摇杆 四足机器人 虚拟仿真 实验教学平台 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] G642[自动化与计算机技术—控制科学与工程]