大型四足机器人腿部结构设计与运动分析  

Structural Design and Motion Analysis of the Leg of a Large Quadruped Robot

作　　者：梅贤慧 张文典[3] 黄家才 张杨桂 孙丁斌 MEI Xianhui;ZHANG Wendian;HUANG Jiacai;ZHANG Yanggui;SUN Dingbin(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China;Jiangsu Biomimetic Control Technology and Equipment Engineering Research Center,Nanjing 211167,China;Electrical Engineering Academ,Changchun Automobile Industry Institute,Changchun 130013,China)

机构地区：[1]南京工程学院机械工程学院,南京211167 [2]江苏省仿生控制技术与装备工程研究中心,南京211167 [3]长春汽车工业高等专科学校电气工程学院,长春130013

出　　处：《机械设计与研究》2024年第3期46-50,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(61105085);江苏省教育厅基金项目(20KJA510007)。

摘　　要：基于大型四足机器人在行走时出现的运动稳定性不足问题,设计了一种基于5杆机构的串联腿部结构,该结构具有结构简单、运动精度高、承载能力强的特点。建立了单腿简化结构模型,利用CoppeliaSim与matlab搭建的联合仿真平台对结构进行运动学分析、步态分析和足端轨迹规划,通过分析大腿与小腿关节的位移、角速度的变化特点并与样机反馈数据进行比对。结果表明,该结构在所设计的步态与足端轨迹下运动时,满足四足机器人在行走时对稳定性的要求,使得大型四足机器人在行走时具有更好得运动稳定性。Based on the emergence of motion stability of a large quadruped robot during walking,a tandem leg structure based on a 5-bar mechanism is designed,which is characterized by a simple structure,high motion accuracy and high load-bearing capacity.A simplified structural model of the single leg is established,and the joint simulation platform built by CoppeliaSim and the matlab is used to carry out kinematic analysis,gait analysis and foot-end trajectory planning of the structure.The characteristics of the displacement and angular velocity changes of the thigh and calf joints are analyzed and compared with the feedback data of the prototype.The results show that the structure meets the stability requirements of the quadrupedal robot when walking under the designed gait and foot trajectory,which improves the walking stability of the large quadrupedal robot.

关 键 词：四足机器人 运动学分析 步态分析 轨迹规划 运动稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]