摘要
针对所设计的一种基于液压驱动的六足机器人步行腿,建立了腿部运动学模型并分析了其足端运动空间。构建了腿部性能测试系统,设计了性能测试台控制系统硬件,并开发了运动测试软件。试验结果表明:腿部单关节的运动跟踪误差和关节协调运动跟踪误差均小于1°,关节动态特性满足频率0.5Hz时幅值衰减小于-3dB,验证了步行腿性能能够满足六足机器人的运动需求。
A kinematic model of the leg is established and the workspace of the foot is analyzed based on the walking leg designed for a hydraulically actuated hexapod robot.The performance testing system of the leg is established,the hardware of the controller of the testing system is designed,and the software for motion testing is developed.Experimental results show that the movement tracking error of single joint and the coordinate motion tracking error of joints are less than one degree.Dynamic characteristics of the joint meet that amplitude attenuation is less than-3dB when the frequency is0.5Hz.It is verified that the performance of the waling leg meets the motion requirements of the hexapod robot.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2015年第5期1512-1518,共7页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(51275106)
'973'国家重点基础研究发展计划项目(2013CB035502)
高等学校学科创新引智计划项目(B07018)
教育部新世纪优秀人才支持计划项目(NCET-10-0055)
关键词
自动控制技术
六足机器人
液压驱动
步行腿
性能测试
automatic control technology
hexapod robot
hydraulic actuation
walking leg
performance testing
