TheoJansen仿生腿研究及其机构优化设计

发布时间：2018-05-22 17:00

  本文选题：Jansen-leg + 足端运动轨迹　； 参考：《机械工程学报》2017年15期

【摘要】：通过基于标准Theo Jansen仿生腿(Jansen-leg)机构研制出的小型仿生机器人实物样机的性能测试,发现该机构存在足端运动轨迹单一、地形适应性差等不足之处,针对此进行Jansen-leg机构的系统优化与革新设计。将双边测量中的距离方程应用于标准型仿生腿的运动学建模,作为机构优化中动态变换点的运动学分析的理论依据。通过可重构的优化设计方法,得到了能够适应趾行、避障、泥地、攀爬等运动的诸多新型足端运动轨迹模式。受到优化设计过程和结果的启发,在继承Jansen-leg机构优点的同时对其进行机构革新设计。设计的新机构不但具有很好的越障性、通过性、足端运动轨迹模态多样性,还具有控制简单、关节运动协调性好等诸多优点。提高了该机构对非结构地形环境的适应性,拓展了该机构的应用范围。
[Abstract]:Through the performance test of the prototype of a small bionic robot based on the standard Theo Jansen bionic leg mechanism, it is found that the mechanism has some shortcomings, such as the single track of the foot end and the poor terrain adaptability. Aiming at this, the system optimization and innovation design of Jansen-leg mechanism are carried out. The distance equation in the bilateral measurement is applied to the kinematics modeling of the standard bionic leg, which is used as the theoretical basis for kinematics analysis of the dynamic transformation points in the mechanism optimization. Through the reconfigurable optimization design method, a number of new foot trajectory patterns are obtained, which can adapt to the movement of toe, obstacle avoidance, mud, climbing and so on. Inspired by the optimization design process and results, the mechanism innovation design is carried out while inheriting the advantages of Jansen-leg mechanism. The designed new mechanism not only has many advantages, such as good obstacle surmounting, passability, various modes of foot motion trajectory, but also simple control, good coordination of joint motion, and so on. The adaptability of the mechanism to the unstructured terrain environment is improved, and the application range of the mechanism is expanded.
【作者单位】： 中国科学技术大学精密机械与精密仪器系;西南科技大学制造过程测试技术省部共建教育部重点实验室;
【基金】：国家自然科学基金(51375410,61401379) 西南科技大学制造过程测试技术省部共建教育部重点实验室团队项目基金(13zxzk09)资助项目
【分类号】：TP242
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本文编号：1922899