基于模拟样机的六足机器人双模式运动学研究  

Dual-Mode Kinematics of a Hexapod Robot Based on Simulated Prototypes

作　　者：徐建兵 管必萍 何文君 吴爱军 郑紫宸 范狄庆 崔顺涛 

机构地区：[1]国网上海市电力公司,上海 [2]上海工程技术大学机械与汽车工程学院,上海

出　　处：《计算机科学与应用》2024年第12期142-152,共11页Computer Science and Application

基　　金：国网上海市电力公司科技项目(520935230007)。

摘　　要：为了提高六足机器人在多种复杂地形环境中的越障性能与效率性,提出了一种可变换行走模式的六足机器人。建立了足式行走模式的动力学模型,此外机器人通过发射返回的激光判断路面的平整度,如果达到所需要的要求,则六足机器人变换为轮式行走状态,在特定场合运行效率得到提升。利用ADAMS软件对六足机器人模型进行了动力学仿真分析,得到了质心的位移曲线、速度曲线、加速度曲线。结果表明,六足机器人能在运动中保持平稳状态,验证了双模式六足机器人模型的合理性。In order to improve the obstacle-crossing performance and efficiency of a hexapod robot in a variety of complex terrain environments, a hexapod robot with changeable walking modes is proposed. A kinetic model of the foot walking mode is established, and the robot determines the smoothness of the road surface by emitting the returned laser, and if it meets the required requirements, the hexapod robot changes to the wheeled walking state, which improves the efficiency of the operation in specific occasions. The ADAMS software was used to simulate the dynamics of the hexapod robot model, and the displacement, velocity and acceleration curves of the centre of mass were obtained. The results show that the hexapod robot can maintain a smooth state in motion, which verifies the reasonableness of the dual-mode hexapod robot model.

关 键 词：六足机器人 ADAMS 足式移动 轮式移动 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]