八足机器人行走机构设计及其运动学分析

Design and kinematic analysis of octopod robot walking mechanism

针对多足机器人在变地形环境下快速行走的问题,对多足机器人的腿部机构与运动模式进行了研究,设计了两种机器人腿部行走机构,即六连杆腿部机构与齿轮传动腿部机构,并基于这两种腿部行走机构组合了一种八足机器人。首先,对八足机器人各腿部行走机构和整体结构进行了设计分析,根据各腿部机构选择适用步态进行了研究,即前后连杆腿的对角步态与中部齿轮腿的单线直行步态;然后,研究了机器人的两种不同腿结构的行走性能,对其进行了运动学分析;最后,整体分析了机器人对角步态和越阶梯两种运动模式,并通过ADAMS软件对机器人两种运动模式进行了运动仿真,将后处理曲线与运动分析进行了对比。研究结果表明:机器人行走具有稳定性,两种运动模式具有可行性。

Aiming at the problem of fast walking gait of multi-legged robots in variable terrain environment, the leg mechanism and motion mode of multi-legged robots were studied. Two types of robot leg walking mechanisms were designed, the one is six-link leg mechanism, the other is gear-driven leg mechanism. Based on these two types of leg walking mechanisms, the octopod robot was assembled. Firstly, the walking mechanism and overall structure of each leg of octopod robot was designed and analyzed, and in accordance with each leg mechanism, the suitable gaits were selected, that is, the diagonal gait of front and rear connecting rod legs and the single-line straight gait of middle gear legs. Secondly, the walking performance of two different leg structures of octopod robot was reviewed, and its kinematic was also analyzed. Finally, the diagonal gait and step-by-step motion modes of the robot were analyzed as a whole, and the two motion modes of the robot were simulated by ADAMS software, which ensures the comparisons between post-processing curves and motion analysis.The results indicate that the walking performance of the robot is stable and two motion modes are feasible as well.