摘要
以电机作为驱动力的四足机器人由于受到关节电机输出力矩的限制而无法承担较大负载,而以液压能作为驱动力则可承担较大的载重,这在军事后勤运输方面具有重要意义。文中设计了一种以液压能作为驱动力的四足机器人的腿部机械结构,对其进行了步态规划并建立了四足机器人对角小步跑的运动学模型,分析了腿部各个结构部件的运动规律,为进一步研究四足负重机器人的驱动控制提供了参考。
The quadruped robot that uses electric motor as the driving force yet incapable to undertake rather heavy load on account of the subjected limitations of outputting moments of joint motors. But the hydraulic power that acted as a driving power could undertake rather big loadings; thus possesses important significance on the respect of military logistic transportation. A kind of leg mechanical structure of quadruped robot that takes the hydraulic power as the driving force was designed in this paper. The gait plan was carried out on this mechanism and the kinematics model of diagonal skips and hops of quadruped robot was established. The kinematic rule of each structural parts of legs was analyzed, thus provided reference for further research on the drive control of quadruped load bearing robot.
出处
《机械设计》
CSCD
北大核心
2009年第4期29-31,78,共4页
Journal of Machine Design
基金
西北工业大学重点扶持资助项目(W002207)
关键词
四足负重机器人
对角小步跑
步态规划
quadruped weight bearing robot
diagonal skips and hops
gait plan
