一种仿生四足机器人的腿部结构设计及其轨迹规划

Mechanical Design and Trajectory Planning of Leg Structure of Bionic Quadruped Robot

为了提高四足机器人的行走稳定性,在对"马腿"进行仿生分析的基础上,设计了一种四足机器人的新型腿部仿生结构,并基于该机器人的单腿运动学模型,利用复合摆线法对其足端轨迹进行了规划;通过分析足端位移、速度、加速度的变化特点,证明满足该机器人行走稳定性的要求,为后期机器人物理样机的稳定性实验提供了理论依据。

In order to improve the walking stability, a kind of bionic leg structure is designed on the basis of the bionic analysis of the horse leg. Based on the robot single leg kinematics model, the foot trajectory is planned by using the cycloid function. The variations of displacement, velocity, acceleration with time of the robot are analyzed, which proved that the requirements for improving walking stability is satisfied. The results will provide theoretical basis for the following stability experiments of the quadruped robot.