摘要
以四足机器人为研究对象,针对四足机器人在正常行进过程稳定性不高的问题,提出一种基于重心移动的间歇性walk步态规划。利用SolidWorks建立四足机器人的三维建模。首先利用D-H算法推导出单腿的运动学方程,然后借助MATLAB采用摆线曲线进行轨迹规划。同时,利用五次多项式曲线借助MATLAB、ADAMS搭建联合仿真平台,采用联合仿真的方法,通过不断调整轨迹参数,实现了该机器人稳定的静步态行走,验证该结构的合理性以及轨迹算法的稳定性。
This topic takes quadruped robot as the research object.Contending with the problem of low stability of quadruped robots during normal travel,an intermittent walk gait planning based on the movement of the center of gravity is proposed.Establish three-dimensional modeling of quadruped robot using SolidWorks.First use the D-H algorithm to derive the kinematics equation of a single leg,then use cycloid curve for trajectory planning with MATLAB.At the same time,build a joint simulation platform using fifthorder polynomial curve,MATLAB and ADAMS.Using the method of co-simulation,by continuously adjusting the trajectory parameters,the robot has achieved a stable static gait walking,which verifies the rationality of the structure and stability of the trajectory algorithm.
作者
刘铭
Liu Ming(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《农业装备与车辆工程》
2021年第3期135-139,共5页
Agricultural Equipment & Vehicle Engineering
关键词
四足机器人
轨迹规划
静步态
联合仿真
quadruped robot
trajectory planning
static gait
co-simulation
