异构双腿行走机器人机构优化设计

Optimum Design of Mechanism Biped Robot with Heterogeneous Legs

为了给智能仿生腿的开发提供一个理想的研究平台,提出了异构双腿行走机器人(BRHL)这一全新的类人机器人模式.阐述了BRHL的概念及研究意义,介绍了BRHL双腿机构的仿生设计.由于双腿机械结构类似,以仿生腿为例推导了BRHL的运动学模型.论述了BRHL的优化原则、目标函数及约束条件.利用处理好的正常人体步态数据对BRHL进行了优化设计.优化结果表明,BRHL能够较好地实现拟人步态,是智能仿生腿的理想研究平台.

To provide an ideal platform for the R＆D of intelligent bionic legs, a new pattern of humanoid robot, i.e., the biped robot with heterogeneous legs （BRHL）, is proposed. The concept of BRHL and the reason for investigating it are given with its bionic design described. Taking a bionic leg as example, the kinematic model of BRHL is developed since various mechanical structures of both legs are similar. Then, the principle of optimization, objective function and constraint conditions of BRHL design are discussed. The optimum design was done according to the processed data of normal person＇s gait, and the result indicated that BRHL can implement well the anthropomorphic gait and is an ideal platform for R＆D of intelligent bionic legs.