轮足复合机器人腿机构设计及仿真

Design and Simulation of Leg Mechanism of Wheel Foot Compound Robot

为了解决轮式机器人难以适应复杂地面环境及足式机器人速度低、效率低的缺陷,在以液压系统为动力元件、腿机构为关节式的足式机器人基础上,通过增加车轮部件,于大腿和小腿的连接处,采用离合装置,来实现轮式与足式的切换,从而设计一款能综合两者优点、规避两者缺点的轮足复合机器人腿机构,并应用在四足机器人上.依据“D-H”法则对足末端点进行正运动学分析,得出足末端点工作区域,并确定腿摆动轨迹及四足步态规划,在重心随动模式及爬坡模式下分别对其进行足式和轮式运动模式仿真分析,验证了理论设计的正确性.

In order to solve the defects that wheeled robot is difficult to adapt to complex ground environment and foot robot has low speed and efficiency,the clutch device is adopted at the joint of thigh and calf to switch between wheel and foot by adding wheel components based on the foot robot driven by hydraulic motor and articulated leg mechanism.Thus,a wheel foot compound robot leg mechanism which can integrate the advantages of the two and avoid the disadvantages of the two is designed and applied to the quadruped robot.Through the“D-H”rule,the forward kinematics analysis of the foot end is carried out,and the foot end workspace is obtained,the leg swing trajectory and quadruped gait planning are determined,and the foot and wheel motion modes are simulated and analyzed in the center of gravity follow-up mode and climbing mode respectively,the correctness of the theoretical design is verified.