轮腿式机器人运动学分析及其步态规划  

Kinematics analysis and gait planning of wheel-legged robot

作　　者：陈耀轩 周子尧 王峥宇 梅杰[1,2] 陈昆 Chen Yaoxuan;Zhou Ziyao;Wang Zhengyu;Mei Jie;Chen Kun

机构地区：[1]武汉理工大学交通与物流工程学院,武汉430063 [2]武汉理工大学智能制造与控制研究所,武汉430063

出　　处：《起重运输机械》2023年第21期44-50,共7页Hoisting and Conveying Machinery

摘　　要：文中提出了一种可实现构型切换的轮腿式机器人,能根据地形的不同切换为不同的构型,且前腿末端可与夹取装置相结合,能够通过变换姿态构型将前腿用作机械臂,通过配合前臂关节与末端夹取装置协调运动以实现远程代替人工进行作业的功能;对轮腿机器人在运动过程中进行单腿的正/逆运动学分析;对轮腿机器人进行了CPG步态规划和可操作性仿真分析。结果表明:轮腿机器人运动平稳,前腿在混用为机械臂时可操作空间大,验证了可重构轮腿式机器人机械结构的可行性和合理性。In this paper,a wheel-legged robot which can realize configuration switching is proposed.The robot can switch to different configurations according to different terrains,and the end of the front leg can be combined with the clamping device.The front leg can be used as a mechanical boom by changing the posture configuration,and the remote manual operation can be replaced by coordinating the movement of the forearm joint and the end clamping device;The forward/inverse kinematics analysis of the single leg of the wheel-legged robot was carried out during movement,and the CPG gait planning and operability simulation analysis of the wheel-legged robot were carried out.The results show that the motion of the wheellegged robot is stable,and the front leg can operate in a large space when it is mixed as a mechanical arm,which verifies the feasibility and rationality of the mechanical structure of the reconfigurable wheel-legged robot.

关 键 词：轮腿式机器人 构型切换 运动学分析 步态仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]