关节电机驱动六足机器人仿生结构设计与柔顺运动控制

Biomimetic structure design and compliant motion control for hexapod robot driven by joint motors

现有六足机器人在单足结构设计、机体布置形式及柔顺运动控制等方面存在不足,导致其地形适应能力不强,运动柔顺性能不高。为此,开展了典型六足生物——蚂蚁的观测实验,基于蚂蚁生理结构特征和驱动方式分析,提出了适用于六足机器人结构设计的基本原则;基于低惯量单足结构设计,通过优化机器人机体布局,提出了关节电机驱动六足机器人整体仿生结构;基于六足机器人直行和转向运动步态,规划了三角函数曲线与直线相结合的足端轨迹,提出了基于分级控制的六足机器人柔顺运动控制方法。样机实验结果表明,六足机器人结构设计合理,能够实现相对柔顺的直行和转向运动。研究结果可以为机器人仿生结构设计及柔顺运动控制提供重要参考。

The existing hexapod robots have shortcomings in single foot structure design,body layout and compliant motion control,resulting in weak terrain adaptability and low motion compliant performance.Therefore,observation experiment was conducted on a typical hexapod organism-ant.Based on the analysis of the physiological structure characteristic and driving mode of ant,basic principles applicable to the structure design of hexapod robot were proposed;based on the design of a low inertia single foot structure,an overall biomimetic structure of a hexapod robot driven by joint motors was proposed by optimizing the body layout of the robot;based on the gait of the straight and turning movements of the hexapod robot,a foot end trajectory combining trigonometric function curve and straight line was planned,and a compliant motion control method for the hexapod robot based on hierarchical control was proposed.The prototype experimental results showed that the hexapod robot had a reasonable structure design and could achieve relatively compliant straight and turning movements.The research results can provide important references for the design of robot biomimetic structure and compliant motion control.