冗余驱动仿壁虎机器人运动学分析与仿真

Kinematics Analysis and Simulation of a Gecko Robot under Over-actuation

研究仿壁虎机器人处于多足吸附支撑状态时,出现冗余驱动问题,机器人驱动难度较大,为协调机器人各关节运动和姿态控制,讨论了一种冗余驱动的仿壁虎四足机器人的自然约束条件,推导了机器人三足吸附状态时冗余驱动变量与独立驱动变量的位置和速度关系,建立了机器人机体正运动学方程,同时建立了机器人的逆运动学方程,用来验证正运动学方程的正确性。机器人正运动学方程是一个高次方程,有16组解,数字仿真结果表明只有一组解满足实际模型要求。逆运动学分析结果及仿真结果验证了正运动学的正确性。

The phenomenon of Over-actuation exist when the gecko robot grasp at the plane with multi-leg.the natural constraint condition is discussed,and the relationships between the independent actuation joints and redundant ones of crawl gait for the robot are derived,so the direct kinematics solution of the robot is presented and the multi-joint can be coordinated.Furthermore the inverse kinematics is analyzed.It is found that the direct kinematics solution needs to solve a sixteen-order polynomial equation,but only one solution is correct.The results are verified by the inverse kinematics and simulations.