四足步行椅机器人位置分析及足端点轨迹规划

Position analysis and foot trajectory planning of quadruped walking robot

针对当今社会对助老助残机器人的需求,设计了一种基于4(2-UPS+UP)并联机构的四足步行椅机器人。首先,介绍了该机器人的整体构型及各杆件设计参数,建立了单腿机构的数学模型,求解了该机构的自由度。其次,对单腿机构进行位置分析,计算了其工作空间。最后,在对末端点行走轨迹进行规划的基础上,得出了轨迹曲线函数,并对单腿机构进行实验研究。实验结果表明,机构实际轨迹曲线与理论曲线误差在合理范围内,验证了机构设计的合理性以及轨迹规划的可行性,为四足步行椅机器人的设计与控制提供了理论参考。

According to the needs of the robot for the aged and the disabled in today’s society,a quadruped walking robot based on 4(2-UPS+UP) parallel mechanism was designed.Firstly,the whole structure of the robot and design parameters of each rod were introduced,and the structure model of the single leg mechanism was established.The DOF of the mechanism was solved.Secondly,the position analysis of the single leg mechanism was carried out,and the workspace was calculated.Finally,on the basis of trajectory planning of the end point,the trajectory curve function was obtained,and the experimental study of single leg mechanism was carried out.The experimental results show that the error between the experimental curve and the theoretical curve is within a reasonable range.The results verify the rationality of the mechanism design and the feasibility of the trajectory planning.The method provides a theoretical reference for the design and control of the quadruped walking robot.