基于四足并联脊柱3-RPS机构运动研究  

Kinematic Study of 3-RPS Mechanism Based on a Quadruped Parallel Spine

作　　者：曾帅 郭忠峰[1] 王赫莹[1] ZENG Shuai;GUO Zhongfeng;WANG Heying(College of Mechanical Engineering,Shenyang University of Technology,Shengyang 110870,China)

机构地区：[1]沈阳工业大学机械工程学院,沈阳110870

出　　处：《机械工程师》2024年第6期83-86,90,共5页Mechanical Engineer

摘　　要：为解决四足机器人在复杂地形运动的稳定性和适应性,提出基于腰部并联脊柱的结构设计。文中采用推导的运动学逆解,计算各驱动杆的长度,建立机构运动学方程,得到驱动杆的质心位移、速度和加速度曲线。建立简化四足腰部并联机器人模型,在ADAMS中运行,进行步态规划和步态仿真,并验证了该方案的可行性。In order to solve the stability and adaptability of quadruped robot movement in complex terrain,a structural design based on parallel spine at waist is proposed.This paper uses the derived kinematic inverse solution to calculate the length of each driving rod,establishes the kinematic equations of the mechanism,and obtain the center-of-mass displacement,velocity and acceleration curves of the driving rod.A simplified quadruped waist parallel robot model is established and run in ADAMS for gait planning and gait simulation,and the feasibility of this scheme is verified.

关 键 词：四足机器人 并联脊柱 步态规划 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]