大型重载液压驱动六足机器人样机实验

Experimental Study on the Prototype of A Large Heavy-duty Hydraulic Hexapod Robot

研发了大型重载液压驱动六足机器人样机(长5.5m、宽5.5m、高2m、承载500kg),该样机采用油缸对六条腿的十八个关节进行驱动。实现了一条腿上三个油缸的协调控制,并且在腿的姿态变化引起负载变化的情况下,依然能够使每条腿足端跟随期望的轨迹运动。除此之外,还实现了样机机体相对地面的水平前后运动、水平旋转运动,并在此基础上实现了四足步态的运动。

The prototype of a large heavy-duty hydraulic hexapod robot （5, 5m in length, 5.5m in width, 2m in height, with 500kg payload） is developed in this paper. The prototype is driven by eighteen joints in the six legs controlled by eighteen cylinders. By controlling the three cylinders in one leg coordinately, the foot end of each leg can follow the desired trajectory, even under the varied load condition caused by the posture changes of the legs. Besides, the translational and rotary motion controls of the body of the prototype are conducted with the six legs fixed on the ground. Finally ,the four-legged locomotion control of the prototype is accomplished.