一种弹性足式机器人腿部结构设计与分析  

Design and Analysis of Elastic Leg Structure of a Legged Robot

作　　者：曹钰 秦建军 邵派 江磊[3] 苏波[3] 孟圆 CAO Yu;QIN Jianjun;SHAO Pai;JIANG Lei;SU Bo;MENG Yuan(School of Mechanical-electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing 100044,China;China North Vehicle Research Institute,Beijing 100072,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京100044 [2]北京市建筑安全监测工程技术研究中心,北京100044 [3]中国北方车辆研究所,北京100072

出　　处：《机床与液压》2023年第13期78-86,共9页Machine Tool & Hydraulics

基　　金：国家自然科学基金重大研究计划(91748211);北京市属高校基本科研业务费专项资金(X20060);北京建筑大学研究生创新项目(PG2021088);北京市建筑安全监测工程技术研究中心研究基金资助(BJC2020K012)。

摘　　要：针对足式机器人在实现奔跑、跳跃等极限运动时,腿部会受到地面较大反向冲击力的问题,使用仿生学方法以猫科动物腿部骨骼肌系统为仿生对象,通过引入变刚度弹性杆件对闭链连杆机构进行优化设计,设计一种结构简单、能够有效储存地面反向冲击力并将其转化为运动时动能的足式机器人腿部机构;建立数学模型,对变刚度弹性元件进行定量分析,并采用矢量回路法对连杆机构进行运动学分析;建立优化前后两种单腿机构的虚拟样机,使用MATLAB软件设计控制系统,并应用ADAMS对虚拟样机进行行走、跳跃仿真,对优化前后两种腿部机构进行对比实验;在此基础上搭建实物样机,并进行实验验证。实验结果表明:所提出的足式机器人腿部结构具备可实现性,能够将来自地面的冲击力转化为运动的动能,提升足式机器人的跳跃高度。Aiming at the problem that the legged robotic is subjected to a large reverse impact force from the ground during extreme movement such as running and jumping,the skeletal muscle system of the legs of felines was taken as the bionic object by using bionics method,and the closed-chain linkage mechanism was optimized by introducing variable stiffness elastic rod.A legged robotic leg mechanism with simple structure was designed,which could effectively store ground reverse impact force and converted it into kinetic energy during movement.The mathematical model was established,the elastic element with variable stiffness was quantitatively analyzed,and the kinematic analysis of the linkage mechanism was carried out by using vector loop method.The virtual prototype of the two single-leg mechanisms before and after optimization was established,the control system was designed with MATLAB software,and ADAMS was used to simulate the virtual prototype of walking and jumping,and the comparison test of the two kinds of leg mechanisms before and after optimization was conducted.On this basis,a physical prototype was built to further verify the feasibility of the mechanism and the ability of the elastic rod adopted by the mechanism to convert the ground reverse impact force into kinetic energy when moving.On this basis,the prototype was built and verified by experiment.The experimental results show that the proposed legged robot leg structure is feasible,which can convert the impact force from the ground into kinetic energy and improve the jumping height of the legged robot.

关 键 词：足式机器人 仿生腿 弹性连杆机构 运动学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]