少驱动四足机器人设计与仿真

Design and Simulation of Quadruped Robot with Less Actuators

文章提出了一种用少驱动(驱动源数目少于关节数)重构猎豹复杂步态的四足机器人设计方法。运用主成分分析方法(PCA)研究了猎豹在Gallop步态下腿部各关节运动之间的协同性,提取了对运动起主要影响的特征量(各变量的主元)和对应的运动重构矩阵。研究发现,四个髋关节与四个膝关节复杂运动分别需要两个主元来重构。基于这一结论,提出了一种实现复杂运动重构矩阵的紧凑型机械结构设计方法,开发了新型少驱动四足机器人的原型样机。基于Solidworks的仿真实验验证了四足机器人重构Gallop步态的可行性与机械结构设计的合理性。

This paper proposes a design method of quadruped robot with less actuators（the number of actuators less than joints＇）to reconstruct complicated gait of cheetah. We use Principal Component Analysis（PCA）to study the synergy of motion of joints of all legs of cheetah in gallop gait,abstain characteristic quantities（Principal Components of each variables）and corresponding matrix reconstructing motion. The research shows that complicated motion of four hip joints and four knee joints both need two Principal Components to reconstruct. Basing on this conclusion,we propose a design method of compact mechanical structure implementing matrix reconstructing complicated motion,and develop prototype of the novel quadruped robot with less actuators. And the simulation based on Solidworks verifies the feasibility of quadruped robot reconstructing gallop gait and the rationality of the design of mechanical structure.