腿臂融合六足机器人仿生设计及分析  

Bionic design and analysis of a novel hexapod robot with leg-arm integration

作　　者：郑羿 饶思贤[1] 高佳篷 ZHENG Yi;RAO Sixian;GAO Jiapeng(School of Mechanical Engineering,Anhui University of Technology,Ma'anshan,243032,China;Anhui Province Key Laboratory of Special and Heavy Load Robot,Ma'anshan,243032,China;Anhui Engineering Technology Research Center of Hydraulic Vibration,Ma'anshan,243032,China)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243032 [2]特种重载机器人安徽省重点实验室,安徽马鞍山243032 [3]安徽省液压振动技术工程技术研究中心,安徽马鞍山243032

出　　处：《中南大学学报(自然科学版)》2025年第2期545-559,共15页Journal of Central South University:Science and Technology

基　　金：安徽省教育厅高等学校科学研究项目(2023AH051118);特种重载机器人安徽省重点实验室开放基金资助项目(TZJQR012-2024,TZJQR008-2024)。

摘　　要：设计一种新型的腿臂融合仿生六足机器人,首先确定最优的机器人本体构型,从步长、步态以及转弯灵活性方面对两种本体构型进行对比;然后对机器人的不同肢体进行仿生设计。对于腿分支,根据仿生学原理确定了最优的关节转角范围、髋节长度以及大小腿节的长度比例,并从工作空间、速度椭圆和力椭圆3个方面评估六足机器人类昆虫式构型和类哺乳动物式构型的运动能力和承载能力,对于腿臂分支,参照人类手臂的关节布局,利用腿臂融合机制设计一种具有五自由度的腿臂分支,可实现腿/臂功能之间的灵活切换;在此基础上,将两者均布在圆周本体上组成了六足机器人的整体构型,最后设计机器人的整体系统,并利用研制的物理样机对机器人的步行功能、操作功能进行实验验证。研究结果表明:该仿生机器人相比于一般的六足机器人具有最优的腿分支拓扑结构,可以根据目标任务不同选择类昆虫构型或者类哺乳动物构型,并且由于类人手臂腿臂融合分支的存在,其不仅可以实现基本的步行功能,而且可实现一定的操作功能,同时完成这两种功能之间的灵活切换。A novel bionic hexapod robot with leg-arm integration was designed.Firstly,two body configurations were compared in terms of step length,gait types and turning flexibility,and then the optimal robot body configuration in this study was determined.After that,the different limbs of this robot were designed by utilizing bionics.For leg branches,the optimal angle ranges of joints,the length of the hip segment and the length ratio of thigh and shank segment were determined according to the bionic principle.The locomotion and bearing capacity of the insect-like configuration and mammal-like configurations of hexapod robot were evaluated from the aspects of working space,velocity ellipse and force ellipse.For the leg-arm branches,by using the leg-arm integration mechanism and referring to the joint layout of the human arm,a novel limb with five degrees of freedom was designed.Flexible switching between leg-arm functions was realizable in this limb.On this basis,two kinds of limbs were distributed on the circular body to form the overall configuration of the hexapod robot.Finally,the whole system of the robot was designed.Moreover,the walking and manipulation functions of the robot were verified by experiments with the developed physical prototype.The results show that this bionic robot demonstrates an optimal leg branch topology compared to conventional hexapod robots.It can adapt insect-like or mammal-like configurations depending on task requirements.Featuring the human-like integrated leg-arm branches,this robot achieves not only fundamental walking functions but also manipulation capabilities,allowing flexible switching between these two modes.

关 键 词：腿臂融合 六足机器人 仿生设计 步态规划 单腿臂操作 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]