摘要
对四足机器人进行运动学建模和分析,推导运动学的正解和逆解;然后基于五次多项式对机器人足端轨迹进行了步态规划,计算了四足机器人对角步态和三角步态的驱动函数。在仿真软件ADAMS中对三角步态和对角步态进行仿真。最后制作了样机,并对样机进行了测试。通过研究三角步态和对角步态的仿真结果和样机测试结果,验证了理论推导计算的正确性。
The kinematics modeling and analysis of the quadruped robot were carried out,and the forward and inverse kinematics solutions were derived.The gait planning of the robot foot end trajectory was carried out based on the quintic polynomial.The driving functions of the diagonal gait and triangle gait of quadruped robot were calculated.Triangle gait and diagonal gait were simulated in AD⁃AMS.Finally,the prototype was made and tested.By comparing the simulation results of triangle gait and diagonal gait with the test re⁃sults of prototype,the correctness of the theoretical derivation and calculation was verified.
作者
郭建
郭焕彰
赵易
梁永杰
张晓佳
GUO Jian;GUO Huanzhang;ZHAO Yi;LIANG Yongjie;ZHANG Xiaojia(School of Mechanical Engineering,Guangzhou City Institute of Technology,Guangzhou Guangdong 510800,China)
出处
《机床与液压》
北大核心
2021年第21期67-72,共6页
Machine Tool & Hydraulics
基金
广东省普通高校青年创新人才项目(2019KQNCX212)
华南理工大学广州学院优秀骨干教师项目(52-CQ18YG22)。
关键词
四足机器人
运动学分析
步态规划
Quadruped robot
Kinematics analysis
Gait planning
