小型化四足机器人的运动学分析及仿真研究
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摘要
为降低四足机器人的工作能耗,提高其在恶劣环境下的有效工作时间,提出了一种小型化四足机器人的设计方案。首先,说明了该四足机器人的运动方式,详细介绍了其控制系统、减速传动机构、分解传动机构、间歇分配机构和腿部机构;然后,针对该小型化四足机器人的简化模型进行了运动学分析,将运用Pro/E软件建立好的小型化四足机器人模型导入ADAMS软件中,再基于ADAMS平台进行了三维四足机器人模型的运动仿真;最后,重点分析了该四足机器人双侧腿部进行步态切换时的行走状态,总结出了其速度曲线突变的原因。研究结果表明,该小型化四足机器人可以实现稳定的运动,进而验证了机器人设计方案的可靠性。
In order to reduce energy consumption and improve effective working time of quadruped robot in the harsh environment,the structure scheme of miniaturization quadruped robot was designed.The motion model of the quadruped robot was described.The control system,the deceleration transmission mechanism,decomposition transmission mechanism and intermittent distribution mechanism were introduced.Aiming for the simplified model of the robot,kinematics analysis was studied on the basis of robot structure.The motion simulation of miniaturization quadruped robot was carried out with the ADAMS platform based on Pro/E model.The analysis of the walking state of bilateral leg was focused on in gait switching.The reason of velocity mutation was summarized.The results indicate that the miniaturization quadruped robot can achieve stable movement,and then it verifies reliability of the robot design.
In order to reduce energy consumption and improve effective working time of quadruped robot in the harsh environment,the structure scheme of miniaturization quadruped robot was designed.The motion model of the quadruped robot was described.The control system,the deceleration transmission mechanism,decomposition transmission mechanism and intermittent distribution mechanism were introduced.Aiming for the simplified model of the robot,kinematics analysis was studied on the basis of robot structure.The motion simulation of miniaturization quadruped robot was carried out with the ADAMS platform based on Pro/E model.The analysis of the walking state of bilateral leg was focused on in gait switching.The reason of velocity mutation was summarized.The results indicate that the miniaturization quadruped robot can achieve stable movement,and then it verifies reliability of the robot design.
引文
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[2]张亚萍,马明星.搜救机器人系统的设计与开发[J].中国制造业信息化,2010,39(5):52-55.
[3]MARK J.Evolution and field performance of a rescue robot[J].Journal of Field Robotics,2008,25(1):17-30.
[4]钱善华,葛世荣.救灾机器人的研究现状与煤矿救灾的应用[J].机器人,2006,28(3):350-353.
[5]刘静,赵晓光,谭民.腿式机器人的研究综述[J].机器人,2006,28(1):81-88.
[6]何冬青,马培荪,曹冲振,等.四足机器人对角小跑起步姿态对稳定性的影响[J].上海交通大学学报,2005,39(6):880-882.
[7]计时鸣,刘毅,李研彪,等.一种新型拟人机械腿的运动传递性能分析[J].机电工程,2012,29(10):1125-1129.
[8]张文宇.四足机器人斜面全方位静态步行及稳定性分析[D].青岛:中国海洋大学机电工程与自动化学院,2009:1-2.
[9]吉爱红,戴振东,周来水.仿生机器人的研究进展[J].机器人,2005,27(3):284-288.
[10]WANG Peng,JIANG Wen-hao,LI Xin.Research formulti-sensor information fusion algorithm of search and res cue robot based on embedded control network[J].Journalof Computer,2012,7(5):1176-1183.
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