一种新型四足机器人腿部机构设计与运动学分析

Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism

针对3R型串联机械腿部机构承载能力不强的问题,对腿部机构进行改进,提出两种2R1T的3自由度并联腿部机构;利用Adams软件搭建主要结构尺寸相同的虚拟样机,添加相同的约束和驱动,根据承载时直线驱动器的受力情况对比,优选出一种腿部机构,并完成整体样机设计;建立腿部坐标系,通过矢量法对腿部结构进行运动学分析,并利用Adams软件搭建的虚拟样机进行仿真验证,得到理论值与仿真值误差较小的结论,验证了运动学的正确性,为后续进一步的研究分析奠定了基础。

Aiming at the low bearing capacity of the 3R series mechanical leg configuration,the leg configuration is improved,and two 3-DOF parallel leg configurations of 2R1T are proposed.A virtual prototype is built by Adams software with the same main structural dimensions,the same constraints and drives are added,a leg configuration is selected according to the comparison of the force of the linear actuator during loading,and the overall prototype design is completed.The leg coordinate system is established,the kinematics of the leg structure is analyzed by the vector method,the virtual prototype built by Adams software is used for simulation verification,the error between the theoretical value and the simulation value is small,and the correctness of kinematics is verified,which lays a foundation for further research and analysis.