基于Trot步态的四足搜救机器人设计  

Design of Quadruped Search and Rescue Robot Based on Trot Gait

作　　者：蔺传玉 张龙刚 郝瑞亭 马双双 高鑫 陈晓艳 Lin Chuanyu;Zhang Longgang;Hao Ruiting;Ma Shuangshuang;Gao Xin;Chen Xiaoyan(School of Physics and Electronic Information,Yunnan Normal University,Kunming 650500,China;School of Energy and Environment Science,Yunnan Normal University,Kunming 650500,China;PowerChina Kunming Survey,Design and Research Institute Co.,Ltd.,Kunming 650501,China)

机构地区：[1]云南师范大学物理与电子信息学院,昆明650500 [2]云南师范大学能源与环境科学学院,昆明650500 [3]中国电建集团昆明勘测设计研究院有限公司,昆明650051

出　　处：《机电工程技术》2024年第10期27-31,122,共6页Mechanical & Electrical Engineering Technology

基　　金：云南师范大学博士启动项目(00900205020503127);云南师范大学研究生科研创新基金项目(YJSJJ23-B112)。

摘　　要：针对四足机器人在运行过程中稳定性较差的问题,设计了一种基于Trot步态的12自由度全肘式四足机器人。首先,建立DH参数坐标系,选定机身平台为基坐标系,并对目标坐标系下的连杆位置坐标进行运动学解算,选定机动性强且运动范围较广的Trot步态;其次,针对搜救场合对腿部构型的需求,完成了机器人的全肘式腿部结构设计,其中髋关节负责侧摆运动,膝关节和踝关节负责俯仰运动;然后,基于Trot步态进行机器人足端轨迹规划,并导入ADAMS软件进行运动仿真分析,给各部件配置合适的参数后,加入各关节的驱动函数。经仿真分析,机器人在多种运动状态下运行平稳,关节输出曲线平滑,站立蹲起时膝关节最大角速度为45(°)/s,前进时整体路线偏移在2.4%以内,足端路线偏移在3.2%以内。最后设计了机器人实物,通过测试机器人的站立、蹲起和前进等动作,验证了所设计四足机器人的稳定性和机动性。A 12 degree of freedom all elbow quadruped robot based on Trot gait is designed to address the issue of poor stability during operation of quadruped robots.Firstly,a D-H parameter coordinate system is establish,the fuselage platform as the base coordinate system is selected,and perform kinematic calculations on the position coordinates of the connecting rod in the target coordinate system.The trot gait with strong maneuverability and a wide range of motion is selected.Secondly,in response to the demand for leg configuration in search and rescue situations,the full elbow leg structure design of the robot is completed,with the hip joint responsible for lateral motion and the knee and ankle joints responsible for pitch motion.Then,based on the Trot gait,the robot’s foot trajectory planning is carried out,importing ADAMS software for motion simulation analysis.After configuring appropriate parameters for each component,the driving functions of each joint are added.Through simulation analysis,the overall operation of the robot is stable under various motion states,and the joint torque output is stable.When standing and squatting,the maximum angular velocity of the knee joint is 45(°)/s.When moving forward,the overall line deviation is within 2.4%,and the foot line deviation is within 3.2%.Finally,a physical robot is designed,and the stability and maneuverability of the designed quadruped robot are verified by testing its movements such as standing,squatting,and moving forward.

关 键 词：四足搜救机器人 D-H参数 Trot步态 足端轨迹 ADAMS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]