基于再生运动链的四足机器人腿部运动学和动力学研究

Research on Leg Kinematics and Dynamics of Quadruped Robot Based on Regenerative Kinematic Chain

再生运动链连杆机构传动效率高,承载能力强,自由度少,容易实现预期的运动轨迹,基于该构型方法设计了一种多连杆的机器人单腿机构。为了获得更好的运动规律和动力学特性,研究了机器人运动学和动力学问题。首先,基于几何法和拉格朗日法分别进行了运动学和动力学的理论建模。然后,通过运动分析软件Adams进行了运动学和动力学仿真。仿真中发现了机构运动不均匀现象,通过连杆尺度调整,消除了机构的急回特性,使速度和加速度波动分别降低了约10.18%和9.8%。最后,基于Matlab的理论建模与分析软件Adams仿真进行了相互验证。由此,确定了具有运动平稳,所受冲击小和承载大特点的该机器人单腿机构方案是可行的。

Regenerative kinematic chain linkage mechanism has high transmission efficiency,strong bearing capacity,few degrees of freedom,and is easy to achieve the desired trajectory.Based on this configuration method,a multi link robot single leg mechanism is designed.In order to obtain better motion laws and dynamic characteristics,the kinematics and dynamics of the robot are studied.Firstly,kinematics and dynamics are modeled based on geometry method and Lagrangian method respectively.Then,kinematics and dynamics simulation is carried out through the motion analysis software Adams.The uneven movement of the mechanism was found in the simulation.The quick return characteristic of the mechanism was eliminated by adjusting the size of the linkage,and the fluctuation of the speed and acceleration was reduced by 10.18%and 9.8%respectively.Finally,the theoretical modeling and analysis software Adams based on Matlab is simulated to verify each other.Therefore,it is determined that the single leg mechanism scheme of the robot,which has the characteristics of smooth movement,small impact and large load,is feasible.