电液四足机器人足端轨迹跟踪特性研究  

Research on Foot Trajectory Tracking Characteristics of Electro-hydraulic Quadruped Robot

作　　者：王栩 刘桓龙 徐竞宇[1,2] 刘宇骐 Wang Xu;Liu Huanlong;Xu Jingyu;Liu Yuqi(Engineering Research Center of Advanced Driving Energy-saving Technology,Ministry of Education,Chengdu 610031,China;School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]先进驱动节能技术教育部工程研究中心,成都610031 [2]西南交通大学机械工程学院,成都610031

出　　处：《机电工程技术》2025年第3期85-90,共6页Mechanical & Electrical Engineering Technology

摘　　要：四足机器人对施工隧道等崎岖复杂地形具有更好的地形适应和通过能力。从提高功率密度和腿足健壮性的角度出发,设计了一款3自由度的四足机器人电液复合驱动腿足,髋横摆和髋俯仰关节均采用电机驱动,膝关节采用电机-液压缸复合驱动。为给四足机器人隧道地形动力控制策略的制定提供合理依据与参考,测试了腿足的足端位置控制能力,使用D-H法构建了腿足足端运动学模型,规划了Trot步态正弦足端轨迹曲线。利用MATLAB机器人工具箱实现了规划轨迹的足端轨迹控制仿真,结果表明推导的数学模型足端轨迹与仿真生成轨迹完全吻合。搭建了腿足运动控制试验平台,测试出各驱动方式下执行器实际发生的位移或角度数据,计算得到了足端轨迹曲线。试验结果表明,膝关节纯电机驱动足端轨迹跟踪效果最好,电液复合驱动较好,纯液压驱动最差。Quadruped robot has better terrain adaptability and trafficability for construction tunnel and other rough and complex terrain.In order to improve the power density and robustness of legs and feet,a 3-DOF quadruped robot is designed with electro-hydraulic compound drive legs and feet.The hip yaw and hip pitch joints are driven by a motor,and the knee joints are driven by a motor-hydraulic cylinder compound.To provide a reasonable basis and reference for the formulation of dynamic control strategies of the quadruped robot in tunnel terrain,the control ability of the foot position of the legs is tested,and the kinematics model of the full end of the legs is constructed using the D-H method.A sinusoidal foot trajectory under trot gait is planned.The foot trajectory control simulation of the planned trajectory is realized using MATLAB robot toolbox.The results show that the foot trajectory of the derived mathematical model is in complete agreement with the trajectory generated by the simulation.A leg and foot motion control test platform is built to test the actual displacement or angle data of actuators under each driving mode,and the foot trajectory curve is calculated.The test results show that the foot trajectory tracking effect with pure motor driven knee joint is the best,electro-hydraulic driven is the second best,and pure hydraulic driven is the worst.

关 键 词：四足机器人 电液腿足 D-H法 足端轨迹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]