基于层次分析法的四足机器人关节配置研究

Research for Joint Form of Quadruped Robot Based on AHP

对于四足机器人,腿型和关节姿态的布置形式极为重要,决定着机器人的运动学和动力学性能;利用层次分析法建立递阶层次结构模型、构造判断矩阵、权重计算及一致性检验,把机器人行走性能、稳定性能、续航性能进行定量化处理。在特定工况下利用ADAMS简化模型仿真结果进行综合分析,得出全膝式、内膝肘式具有较佳的综合性能,为物理样机调试与优化提供了理论依据。

For quadruped robot, leg and joint configurations are extremely important to its kinematics and dynamics performance. The performance of kinematical movements, stability and duration are processed quantitatively through constructing hierarchical structuremodel, establishing judgment matrix, calculating weight, and testing consistency based on analytic hierarchy process （AHP）. A simplified 3D model is established under certain conditions using the AD- AMS to make a comprehensive analysis of the measured data. The simulation results demonstrates that both of the knee-knee robot and the elbow-knee robot havegood comprehensive performance. These above results provide a theoretical basis for the physical prototype debugging and optimization.