一种四足软体机器人的动力学分析与实验研究  

Dynamic analysis and experimental study of a quadruped soft robot

作　　者：吕跃东 刘帅 宋晓娟[1,2] LYU Yuedong;LIU Shuai;SONG Xiaojuan(School of Mechanical Engineering,Inner Mongolia University of Technology,Hohhot 010051,China;Inner Mongolia Key Laboratory of Special Service Intelligent Robotics,Inner Mongolia University of Technology,Hohhot 010051,China)

机构地区：[1]内蒙古工业大学机械工程学院,呼和浩特010051 [2]内蒙古工业大学内蒙古自治区特种服役智能机器人重点实验室,呼和浩特010051

出　　处：《内蒙古工业大学学报（自然科学版）》2023年第5期439-444,共6页Journal of Inner Mongolia University of Technology：Natural Science Edition

基　　金：国家自然科学基金项目(11962020);内蒙古自治区高等学校创新团队发展计划支持项目(NMGIRT2213)。

摘　　要：目前软体机器人步态运动大多采用蠕动前进方式,但是蠕动前进的速度有限,在某些需要快速响应的情况下达不到需求。设计了一款四足软体机器人,该机器人的足部采用能够实现双侧弯曲的气动软体执行器,联合舵机辅助驱动,基于嵌入式平台对软体机器人的步态进行控制,实现步态爬行。研究了软体执行器在考虑负载的情况下,驱动气压与执行器弯曲角度的非线性力学模型,通过搭建实验平台,验证所设计的四足软体机器人的运动能力,结果表明,本文设计的四足软体机器人的非线性建模和结构设计是可行的,实验测出四足软体机器人的平均最快速度要快于传统蠕动方式的软体机器人。At present,the gait of soft robot mostly adopts the creeping way,but the speed of creeping is limited,and it cannot meet the requirements in some cases where rapid response is required.Therefore,a quadruped soft robot is designed.The foot of the robot adopts a pneumatic soft actuator that can achieve bilateral bending,and is assisted by a steering gear.The gait of the soft robot is controlled based on an embedded platform to achieve gait crawling.The nonlinear mechanical model of the driving air pressure and the bending angle of the actuator is studied when the load is considered.The motion ability of the quadruped soft robot is verified by building an experimental platform.The results show that the nonlinear modeling and structural design of the quadruped soft robot designed in this paper are feasible,and the experiment shows that the average fastest speed of the quadruped soft robot is faster than that of the traditional creeping soft robot.

关 键 词：四足软体机器人 嵌入式 气压驱动 步态分析 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]