基于四足机器人的运动学分析与仿真  

Kinematics Analysis and Simulation Based on Quadruped Robot

作　　者：赫万恒 任国全 韩保红 曹洪娜 张淑琴 韩校粉 HE Wanheng;REN Guoquan;HAN Baohong;CAO Hongna;ZHANG Shuqin;HAN Xiaofen(Shijiazhuang Campus,Army Engineering University of PLA,Shijiazhuang 050003,China)

机构地区：[1]中国人民解放军陆军工程大学石家庄校区,石家庄050003

出　　处：《机械工程师》2023年第12期23-26,29,共5页Mechanical Engineer

基　　金：陆军工程大学基础前沿科技创新项目(校教[2021]38号)。

摘　　要：四足机器人具有灵活机动的特性和跨越地形障碍方面的巨大优势,被广泛应用在野外环境作业并发挥重要的作用。基于四足机器人的仿真涉及机器人设计、受力和运动以及控制方法等各方面,具有创新意义和实用价值。文中综合利用三维建模、基于Tort步态的模拟等方式对四足机器人进行了仿真研究。通过对仿真结果的分析,得到四足机器人对角小跑步态的位移、速度、加速度,关节角速度、角加速度、关节力矩,地面作用力等的变化规律。Quadruped robots have the characteristics of flexibility and mobility,great advantages in crossing terrain obstacles,and are widely used in field environment operations and play an important role.Simulation based on quadruped robots involves various aspects such as robot design,force and motion,and control methods,which is of innovative significance and practical value.This paper comprehensively uses three-dimensional modeling and Tort-based gait simulation to simulate the quadruped robot.Through the analysis of the simulation results,the changes of displacement,velocity,acceleration,joint angular velocity,angular acceleration,joint torque,ground force,etc.of the quadruped robot in the diagonal running state are obtained.

关 键 词：四足机器人 连杆机构 运动学仿真 

分 类 号：TH122[机械工程—机械设计及理论]