仿生六足机器人柔顺腿研究  

Research on Compliant Legs of Bionic Hexapod Robots

作　　者：王伟[1] 韦浪 刘富盛 王国顺[1] WANG Wei;WEI Lang;LIU Fusheng;WANG Guoshun(School of Power and Mechanical Engineering,Wuhan University,Wuhan,430064)

机构地区：[1]武汉大学动力与机械学院,武汉430064

出　　处：《中国机械工程》2023年第17期2089-2094,共6页China Mechanical Engineering

摘　　要：为探索弧形腿柔顺性对仿生六足机器人运动性能的具体影响,首先使用伪刚体模型描述弧形腿的变形特征,并给出了刚度的数学表达;然后基于该刚度模型,在Webots仿真环境中构建虚拟样机,通过设定弧形腿不同的刚度,分析了仿生六足机器人在运动速度、能量消耗等方面的变化;最后通过制作不同刚度的弧形腿在物理样机中进行了验证。研究结果表明,弧形腿的柔顺性可以用伪刚体模型准确描述,它可提高仿生六足机器人的运动速度并减小能量消耗。In order to explore the specific influences of the curved legs with compliance on the motion performance of the bionic hexapod robots,firstly,the PRB model was used to describe the deformation features of the curved legs,and the mathematical expression of the stiffness was given.Then,based on the stiffness model,a virtual prototype was built in the Webots simulation environment,and the changes in velocity and energy consumption rate of the bionic hexapod robots were analyzed by setting different stiffnesses of the curved legs.Finally,the curved legs with different stiffness were fabricated and verified in the physical prototype.The results show that the compliance of the curved legs may be more accurately described by the PRB model,which improves the velocity of the bionic hexapod robots and reduces the energy consumption.

关 键 词：仿生六足机器人 柔顺腿 刚性腿 伪刚体模型 

分 类 号：TH242[机械工程—机械制造及自动化]