仿生四足机器人结构设计与运动学分析

Structure Design and Kinematics Analysis of Bionic Quadruped Robot

为满足四足步行机器人野外探索的任务需求,设计一种具有5个自由度的机械腿。应用模块化的设计理念将其拆分成基节模块、股节模块和胫节模块进行设计。通过机械腿正运动学分析,在Matlab仿真环境中计算出机械腿足端工作空间,并结合四足机器人的躯干结构,设计一种连续性的爬行步态,完成其足端轨迹规划,采用梯度投影法对这种冗余机械腿进行逆运动学求解,并在Adams中进行运动学仿真。仿真结果表明:五自由度冗余机械腿各关节能在尽量避免关节极限角的情况下实现连续爬行步态,且四足机器人的机体质心位移曲线在时间上连续光滑。

A 5-DOF mechanical leg is designed to meet the requirements of the quadruped robot＇s work in the wild. The mechanical leg which is based on the modular design contains 3 sub-modules called coax, femur and tibia, respectively. The work space of mechanical leg is given by the analysis of its forward kinematics analysis in the Matlab simulation environment. Combined with body structure of quadruped robot, design a continuous crawling gait and accomplish the trajectory planning of the foot and use gradient projection method to carry out inverse kinematics solving for redundant mechanical leg. Carry out kinematics simulation in Adams. The simulation results show that 5-DOF mechanical leg joints can realize the continuous crawling gait in the case of avoiding joints＇ limit angle besides centroid displacement curve of quadruped robot continually keep smooth as time goes by.