四足机器人奔跑时触地冲击特性分析

Impact Characteristic Analysis of Hydraulically Actuated Quadruped Robots During Running

针对四足机器人以奔跑步态高速运动时,来自地面对机器人系统的频繁或较大的冲击力对机器人自身的稳定性以及液压系统的可靠性都造成重大损伤的问题。通过对奔跑运动过程的分解,分别建立机器人腿机构触地、滑移、静止状态时的动力学模型和运动学模型。对奔跑运动状态进行分析,得出运动过程中地面冲击力对机体结构的影响、髋关节和膝关节动作的特性曲线。通过冲击动力学方程的建立,利用Matlab与Adams动力学仿真软件相结合,对奔跑时机器人受到地面的冲击力大小进行仿真实验研究。研究结果可为后续零冲击步态规划和高速步态规划提供可靠的设计和理论控制依据。

When the quadruped robot run in high-speed movement,frequent or large impact from the ground on the robot system cause significant damage to stability and reliability of the hydraulic system and robot itself.Through decomposition of the high-speed running process,the touchdown,slippage,and stationary state dynamic model and kinematics model of robot mechanism are established. By analyzing the running state,the influence of the ground impact force on the structure of the body and the characteristic curve of the hip joint and knee joint movement are obtained. Through the establishment of impact dynamics equation,using the Matlab and Adams dynamic simulation software,we carry out simulation experimental research on the impact force on the ground when the robot is running. The results can provide a reliable basis and theory of control for the design of zero impact gait planning and high speed gait planning.