摘要
基于蜜蜂腿部结构及运动步态特点和仿生设计基本原理,设计了一种新型六足机器人机构,可实现不同运动步态下的前进、后退和转向,具有较高的步态稳定性和环境适应性。运用空间分解法构建了机器人单腿的运动学模型,利用消元法对模型进行求解,得到逆运动学的唯一解。通过数值求解获得了六足机器人足部末端的运动轨迹,验证了运动学模型的正确性。借鉴蜜蜂的运动步态特征,规划了六足机器人直行和转弯时的运动步态。该研究为六足机器人机构设计与步态规划提供了新的思路和理论参考。
A new hexapod robot mechanism was designed based on the leg structure and the gait movement characteristics of honeybee legs and the basic principles of bionics design,which can move forward,backward and turn in different locomotion gait and has high gait stability and environment adaptability.The kinematics model of the single leg of the robot was built by using the spatial decomposition method,and the unique solution of inverse kinematics was obtained by solving the model with elimination method.The movement trajectory of the foot end of hexapod robot was obtained by numerical solution,and the kinematics model was verified.Based on the characteristics of the movement gait of the honeybees,the movement gait of the hexapod robot in straight walking and turning was planned.The research provides a new idea and theoretical reference for the mechanism design and the gait planning of hexapod robots.
作者
谷勇霞
吴耀君
江崔颖
GU Yongxia;WU Yaojun;JIANG Cuiying(School of Materials and Mechanical Engineering, Beijing Technology and Business University, Beijing 100048,China)
出处
《机床与液压》
北大核心
2020年第11期7-12,共6页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(51475258,51805293)
北京自然科学基金资助项目(3184050)
国家博士后科学基金资助项目(2017M620764)。
