气动柔性关节仿生六足机器人步态规划与运动性能研究

Gait Planning and Kinematics of Bionic Hexapod Robot Based on Pneumatic Flexible Joint

采用自主研发的气动多向弯曲柔性关节设计了一种仿生六足机器人。该机器人外形类似蜘蛛,利用腿部柔性关节在气压下的形变进行驱动。针对机器人腿部运动的特点,采用三角步态法,规划了机器人的行进和转弯步态,进行了仿真和实验。依据关节形变机理,建立了机器人运动学模型,确定了本体和足部位置关系,分析了机器人的步距、转角和整体速度,并通过实验加以验证。利用3D运动捕捉系统进行了机器人运动学实验,获得了机器人足部工作空间,分析了在不同气压、步频和负载条件下机器人的运动性能。实验结果表明,按照规划步态,通过气压控制系统协调腿部运动,机器人可实现前进、平移和转弯等功能。该机器人最大运动速度为100 mm/s,可负载能力为0.5 kg。

A pneumatic bionic hexapod robot employing independent-developed multidirectional bending pneumatic joints was presented. The configuration of hexapod robot was similar to the spider,and the flexible joints of legs of robot were driven by the deformation at different air pressures. By investigating the characteristics of leg movement of robot,the gait of the hexapod robot was planned based on the tripod gait,including the straight walking gait and the turning gait. In addition,the simulation and experiments on walking gait of robot were done,respectively. The kinematics model of hexapod robot was set up according to the mechanism of joint deformation,and the relation between the center mass of robot and foot positions was got. The step,rotation angle and speed of hexapod robot were analyzed,which were verified by the experiments subsequently. The kinematics experiments of hexapod robot were completed and the workspace of the foot was studied on 3 D motion capture system. Meanwhile,the movement performances of the hexapod robot on different loads were investigated with each stride frequency under different pressures. The experiments showed that the hexapod robot can stride forward,move horizontally or make a turn with the movement of each leg cooperated in harmony by controlling the pressure control system in accordance with the gait planned. The maximum speed of hexapod robot was 100 mm/s,and the load capacity was 0. 5 kg. The research result laid the foundation for the application of pneumatic bionic hexapod robot in the complex agricultural environment.