四足机器人结构设计及步态仿真研究

Research on Structure Design and Gait Simulation of Quadruped Robot

【目的】为提高四足机器人在复杂地面行走时的稳定性,对四足机器人结构进行设计,并对其步态进行仿真。【方法】基于哺乳动物的腿部结构,在SOLIDWORKS软件中构建四足机器人的三维模型,使用D-H模型法构建出腿部结构的运动学模型,通过运动学分析,得到四足机器人的足端运动轨迹图,并以Walk步态在V-REP仿真软件中进行仿真分析。【结果】本研究设计出一种结构简单、具有十二自由度的四足机器人。【结论】仿真结果证明,该机器人的机构设计有效,能实现稳步行走。本研究的研究成果为该类机器人的设计提供依据。

[Purposes] In order to improve the walking stability of quadruped robot on complex ground,the structure of quadruped robot is designed and its gait is simulated.[Methods] Based on the leg structure of mammals,the three-dimensional model of quadruped robot was constructed in SOLIDWORKS software,and the kinematics model of leg structure was constructed by D-H model method.Through kinematics analysis,the foot trajectory map of quadruped robot was obtained,and Walk gait was used to make the simulation analysis in V-REP simulation software.[Findings] In this study,a quadruped robot with simple structure and twelve degrees of freedom was designed.[Conclusions] The simulation results show that the mechanism design of the robot is effective and can achieve steady walking.The research results of this study provide a basis for the design of such robots.