足式机器人用执行器的优化设计

Optimal Design of Actuators for Legged Robots

依据四足机器人的运动机理和电机执行器优化设计的原则,建立四足机器人单腿的简单模型,并从动力学的角度,推导出单腿地面冲击的数学模型,得到了冲击力与腿部惯性和执行器惯性的定量关系;然后将该模型应用在四足机器人的执行器优化设计方案中.优化设计出一种结构紧凑、高集成度、高功率密度、转动惯量小、传动高效、具备高频响应性能的两级行星传动的机器人关节执行器.仿真与实验结果表明,经过优化设计的执行器,能够适用于足式机器人.

Based on the motion mechanism of the quadruped robot and the principle of optimal design of motor actuator,a simple model of a single leg of a quadruped robot is established,and the mathematical model of ground impact of one leg is deduced from the point of view of dynamics.The quantitative relationship between impact force and leg inertia and actuator inertia was obtained.Then the model is applied to the optimal design of the actuator of the quadruped robot.A two-stage planetary transmission robot joint actuator with compact structure,high integration,high power density,small moment of inertia,high transmission efficiency,and high frequency response is optimized and designed.Simulation and experimental results show that the optimized actuator can be applied to legged robots.