混联仿生机器狗构型研究

Mechanism Architecture of Hybrid Serial-parallel Robot Dog

仿生机器人研究是机器人学研究的热点之一,由于多年的进化,生物的各关节运动一般难以用机械结构完全实现。为克服目前仿生机器人普遍存在的刚度低、肢体功能弱等不足,以机器狗为研究对象,结合狗的基本行为特征和各关节的生理结构,将各关节的主要功能进行排序,并提出重要性/权重法作为机器狗设计中简化各运动关节的依据;据此分别运用并联双自由度转动机构RGRR-Ⅰ、RGRR-Ⅱ以及单自由度转动机构设计机器狗的各关节,并构造出24自由度的混联机器狗。所设计的混联机器狗具有结构简单、制造容易、刚度强、控制便捷、肢体运动灵活等优点。此研究思路和方法,对其他类型的仿生机器人设计有借鉴作用。

The research of biomimetic robot has become one of the hottest spots of robotics.As living beings evolving for many years,it is difficulty that kinematics features of organisms can completely be realized by man-made mechanisms.In order to overcome the disadvantages of low stiffness and weak function of hind limbs,which widely exist in biomimetic robot,robot dog is studied as an example to propose the rule of importance/weight so as to simplify movement joints.In other words,by considering the base behavioral characteristics and the physical construction of each joint,main functions are put in order according their importance so that each movement joint can be easily designed with mechanical structure.Based on the work mentioned above,24-DOF robot dog is designed by using 2-DOF parallel rotation machines（RGRR-I and RGRR-II）,as well as 1-DOF joint structure.It has many advantages such as simple structure,easy manufacture,high stiffness,convenient control,agile movement,etc.This method may be useful to design other kinds of biomimetic robot.