基于MATLAB的行走机构设计与优化

Design and Optimization of Walking Mechanism Based on MATLAB

为了能实现移动机器人的行走功能,且保证其结构相对简单,降低机器人的复杂度,本研究以四足行走机器人的行走机构为研究对象,并在平面四杆机构的基础上设计出其行走机构,并基于MATLAB平台中构建行走机构的数学模型,利用解析法精确度来分析四杆行走机构的运动规律和杆件受力状态。在此基础上,选定理想的轨迹曲线,使机构末端执行点的轨迹能逼近理想轨迹,从而优化连杆的结构参数。仿真结果表明,优化后的连杆行走机构能较好地实现行走动作,行走机构设计的准确性和行走动作的可靠性得到保证,为类似运动机构的设计提供参考。

In order to realize the walking function of the mobile robot, ensure its relatively simple structure and reduce the complexity of the robot, this study takes the walking mechanism of the quadruped walking robot as the research object, and designs its walking mechanism on the basis of the planar fourbar mechanism. Based on the MATLAB platform, the mathematical model of the walking mechanism is constructed, and the accuracy of the analytical method is used to analyze the motion law of the four-bar walking mechanism and the stress state of the rod. On this basis, the ideal trajectory curve is selected so that the trajectory of the end point of the mechanism can approach the ideal trajectory, thereby optimizing the structural parameters of the connecting rod. The simulation results show that the optimized connecting rod walking mechanism can better realize the walking action, and the accuracy of the walking mechanism design and the reliability of the walking action are guaranteed, which provides a reference for the design of similar motion mechanisms.