仿生四足机器人设计及运动学足端受力分析

发布时间：2018-03-24 09:51

本文选题：四足机器人　切入点：轨迹　出处：《计算机工程》2017年04期

【摘要】：仿生四足机器人腿部结构设计与生物腿部实际结构存在差异,足端与地面的刚性接触力对于控制其运动平稳和收敛会产生不利影响。为解决上述问题,分析德国牧羊犬骨骼结构,通过图像处理和分析手段获取牧羊犬对角小跑步态运动中四肢各关节的运动规律,设计一款四足机器人。该机器人足端具有转化足端与地面刚性接触为柔性接触的机构。根据正运动学和逆运动学理论分析模型足端工作空间。将仿真获得的受力曲线与实际受力曲线进行对比,结果表明,运动控制函数和柔性机构更有助于四足机器人的运动平稳。
[Abstract]:The leg structure design of bionic quadruped robot is different from the actual structure of biological leg, and the rigid contact force between foot and ground will have a negative effect on controlling its motion stability and convergence. The skeletal structure of German Shepherd was analyzed and the motion rules of the joints of the limbs in the diagonal trot gait were obtained by image processing and analysis. A four-legged robot is designed. The foot of the robot has a flexible contact mechanism that converts the foot end into a rigid contact between the foot and the ground. According to the forward kinematics and inverse kinematics theory, the workspace of the foot end is analyzed. The curve is compared with the actual force curve. The results show that the motion control function and the flexible mechanism are more conducive to the smooth motion of the quadruped robot.
【作者单位】：东北林业大学机电工程学院;
【基金】：中央高校基本科研业务费专项资金项目(DL09CA03) 黑龙江省自然科学基金(C201030)
【分类号】：TP242

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