电力巡线便道四足清障机器人步态规划与仿真

Gait Planning and Simulation of Quadruped Clearance Robot for Power Line Patrol Sidewalk

针对传统轮式、履带式清障机器人无法克服复杂地形的问题,提出了一种基于四足机器人的巡线便道清障机器人。对作业环境与作业任务要求进行了分析,结合分析结果设计了巡线便道四足清障机器人的虚拟样机模型。针对越障、爬坡、台阶攀登这3种复杂工况对机器人进行步态规划,利用四足机器人单腿运动学模型与动力学模型推导了运动关节的参数。仿真结果表明,此四足清障机器人在上述3种工况下可以稳定运行。

To address the issue that traditional wheeled and tracked clearing robots cannot overcome complex terrains,a patrol line sidewalk clearance robot based on quadruped robot is proposed.The operating environment and task requirements are analyzed,and based on the analysis results,a virtual prototype model of the patrol line sidewalk clearance quadruped robot is designed.The robot’s gait planning is carried out for three complex working conditions:obstacle crossing,climbing,and step climbing.The motion joint parameters are derived using the single-legged kinematic model and the dynamic model of the quadruped robot.The simulation results show that this quadruped clearance robot can operate stably under the three mentioned working conditions.