连续电驱动四足机器人腿部机构设计与分析

Design and Analysis of a Leg Mechanism for a Continuous Electrically-Driven Quadruped Robot

  • 摘要: 提出了一种四足机器人腿部的连续电驱动(即电机整周转动驱动腿部实现摆转跨步动作)方案,设计了一种具有由切比雪夫机构、五杆机构组成的2自由度双曲柄复合连杆机构的机器人腿部结构.分析了动物的足端轨迹特性,采用轨迹圆滑、无突变、导数连续的椭圆曲线规划了机器人足端运动轨迹.以规划的足端轨迹再现为优化目标,采用遗传算法与fmincon函数内点法计算得到了腿部机构杆长的最佳尺寸.在此基础上,建立了机器人仿真模型,通过Adams仿真分析了机器人腿部机构的足端运动特性,并研制了腿部结构性能测试平台.完成了单腿足端运动轨迹跟踪实验,验证了腿部结构设计方案的可行性.

     

    Abstract: A continuous electric driving scheme for quadruped robot leg (that is, the motor rotates cyclically to drive the leg to swing and step) is proposed. A robot leg structure with two-degree-of-freedom double crank composite link mechanism is designed, which is composed of a Chebyshev mechanism and a five-bar mechanism. The trajectory characteristics of animal foot are analyzed, and the elliptic curve with smooth trajectory, no mutation and continuous derivative is used to plan robot foot trajectory. With the implementation of the planned foot trajectory as the optimization objective, the optimum size of leg mechanism is obtained with the genetic algorithm and the interior point method in fmincon function. On this basis, a simulation model of quadruped robot is built, and the motion characteristics of foot are analyzed through Adams simulation. A performance test platform for leg structure is also developed. The experiment of single foot motion trajectory tracking is conducted to verify the feasibility of the proposed robot leg structure.

     

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