摘要
分析了生物狗后腿的结构特点,提出了一种大腿和小腿呈一体化的柔性节能腿结构,只需在髋关节处施加驱动即可实现四足机器人小跑(trot)步态.对提出的模型进行了动力学分析并通过ADAMS仿真平台进行了仿真.仿真结果表明,此种结构的四足机器人可以实现稳定快速的trot步态,相对于普通髋关节和膝关节同时驱动的四足机器人,该模型的髋关节驱动力矩和驱动功率明显减小,足端接触力明显降低,能耗降低明显,缓冲性能好,证明了四足机器人新型腿结构设计的合理性.
The physiological characteristics of dog hind leg were analyzed,a flexible leg structure made of thigh and shank for integrative structure was presented. Only exerting drive in hip joint,the quadruped robot can realize trot gait. The model was analyzed dynamically and simulated by the ADAMS. The results showed that the quadruped robot with this structure can move stably and rapidly in trot gait. Compared with other quadruped robots which need drive in hip and knee joint simultaneously,we can reduce the drive torque and drive power of hip joint,foot contact force,and energy consumption. The cushioning property of this model is excellent. This leg structure of the quadruped robot is shown to be reasonable.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2016年第4期543-547,553,共6页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目(51375267)
关键词
四足机器人
仿生
节能腿
动力学分析
仿真
quadruped robot
bio-inspired
energy-efficient leg
dynamics analysis
simulation
