六足机器人机构优化设计及运动仿真分析

Optimization design and movement analysis of six-legged robot

针对多连杆组合机器人驱动复杂性问题,对一种齿轮—连杆组合机构的六足机器人进行优化设计。采用优化算法对腿部各连杆尺度进行了优化分析并进行了运动学仿真,在相同工况下分别对机器人直线行走、曲线行走以及直线—曲线行走的质心轨迹、关节的角速度、角加速度进行分析并对比优化前与优化后实验数据。实验结果表明,六足机器人机构设计符合实际情况,模型优化的合理性与准确性得到进一步验证,进而为以后多足机器人更深入研究奠定基础。

Aiming at the driving complexity of multi-link composite robot,the design of a six-legged robot with geared linkage mechanism is optimized. The optimal algorithm is used to analyze the sizes of the link rods of each leg,and the kinematics simulation is carried out. Under the same working conditions,the centroid trajectory,the angular velocity and the angular acceleration of the joint are analyzed respectively as the robot walking in line,curve and line-curve,and the experimental data before and after optimization are compared. The experimental results show that the design of the six-legged robot conforms to the actual situation,and the rationality and accuracy of the model optimization are verified,which lays the foundation for further research on the multi-legged robot.