多足仿生步行机器人的机构设计与功能分析

Mechanism Design and Functional Analysis of Multi-Legged Walking Robot

设计了一种新型的多足仿生步行机器人的机械结构,运用D-H齐次坐标变换矩阵建立其运动学方程,并以最大越障能力为目标函数以连杆长度为约束函数对腿部机构进行优化,得出最佳多足仿生步行机器人的机械结构。基于虚拟样机技术对该多足仿生步行机器人进行爬坡能力、通过复杂路面能力、转弯步态规划等功能分析。仿真结果表明该多足仿生步行机器人机构具有自由度少、控制简单、运动灵活、爬坡能力良好、地形适应性强、转弯稳定性好等特点。

A multi-legged walking robot＇s mechanical structure is designed, and its kinematical equation is established by D- H homogeneous coordinate transformation matrix. With the maximum capacity of obstacle to the objective function and with the link lengths to constraint function to optimize the legs institutions, it obtains the best mechanical structure of multi-legged walking robot. Based on virtual prototyping technology, it optimizes the leg mechanism of the multi-legged walking robot, and researches its ability of climbing, through the rough pavement and swerve of the multi-legged walking robot. The results show that the multi-legged walking robot has some features including fewer freedoms, easy control, flexible movement, good climbing ability, good terrain adaptability and stable turn ability.