奔跑四足机器人腿结构设计与分析

Design and Analysis of Running Quadruped Robots' Leg Structure

针对四足机器人奔跑运动对腿结构高缓冲性能的要求,基于动物狗前腿的骨骼-肌肉生物力学特性,设计了一种奔跑四足机器人的腿结构.该腿结构有3个关节,具有3个自由度,髋关节、膝关节具有主动的俯仰自由度,踝关节具有被动的俯仰自由度.对该腿结构进行了动力学分析和刚度特性分析,并对机器人进行了bound步态的仿真.仿真结果表明,该腿结构能够实现四足机器人快速、稳定地奔跑,关节驱动力矩较小,验证了该腿结构实现四足机器人bound步态奔跑的可行性和合理性.

In order to meet the requirements of quadruped robots＇ leg structure with high cushion performance in running movements, a leg structure of running quadruped robots was designed, which was based on the bone-muscle biomechanical properties of dog forelegs. The leg structure has three joints and three DOFs. T h e hip joint and knee joint have active pitching-DOF,and the ankle joint has passive pitching-DOF . The dynamics and stiffness characteristics of the leg structure were analyzed, and the simulation of bound gait was done. The simulation results showed that a quadruped robot with this leg structure can run rapidly and stably while the point drive torque is low. It was proven that this leg structure has the feasibility and rationality of making quadruped robots run in bound gait.