基于拉格朗日方程的四足攀爬机器人动力学分析

Dynamics Analysis of Quadruped Climbing Robot Based on Lagrange Equation

为了增强高空电网维修作业的安全性与稳定性,设计出一种以猩猩为原型适用于电网攀爬的仿生四足机器人,通过SolidWorks进行三维建模。基于自主设计的新型仿生脊椎、夹持力更大的机械爪以及关节式减速机,使得这种四足攀爬机器人具备一定的伸缩躯干功能,提高了机器人在桁架中的避障能力及高空攀爬的运动能力。利用MATLAB Robotics工具箱研究四足机器人机械臂的运动特性,通过拉格朗日方程对运动的机械臂建立计算难度较低且物理意义明确的动力学方程。对工作的机械臂进行运动学和动力学仿真分析,得到机械臂各关节角度、加速度、角加速度和力矩曲线随时间的变化的过程,且各项数据收敛在正常范围内,满足机器人在高空桁架中行走的安全性与稳定性,验证了方案的可行性。

In order to enhance the safety and stability of high-altitude power grid maintenance operations,a bionic quadruped robot based on orangutan and suitable for power grid climbing is designed,and three-dimensional modeling is carried out with SolidWorks.The robot is based on the self-designed new bionic spine,the mechanical claw with greater gripping force and the joint reducer,so that the quadruped climbing robot has a certain telescopic trunk function,improve the robot's obstacle avoidance ability in the truss and the movement demand of high altitude climbing.MATLAB Robotics toolbox is used to study the motion characteristics of the four-legged robot manipulator,and Lagrange equation is used to establish a dynamic equation with low computational difficulty and clear physical meaning for the moving manipulator.The kinematic and dynamic simulation analysis of the working manipulator is carried out,and the changing process of the angle,acceleration,angular acceleration and torque curves of each joint of the manipulator with time is obtained.All the data converges within the normal range,which satisfies the safety and stability of the robot walking in the high-altitude truss,and verifies the feasibility of the scheme.