一种载重四足机器人的结构设计与仿真

Structural Design and Simulation of a Load-Bearing Quadruped Robot

介绍了一种载重四足机器人的设计与仿真过程。首先,基于稳定性、承载能力和环境适应性等关键性能指标,利用D-H参数法对机器人运动关节进行正运动学分析和逆运动学分析。其次,运用KutzbachGrubler公式算出机器人自由度,采用Creep爬行步态对机器人的步态进行分析,实现了机器人机械结构的仿生设计,包括腿部构型、运动方式及关节布局等。最后,利用Solidworks的simulation功能对机器人各零部件进行静应力分析,对机器人的载重功能进行测试。仿真结果表明,此款机器人的设计合理、载重功能明显,为进一步的实体样机制作和实地应用奠定了基础。

The study introduces the design and simulation process of a load-bearing quadruped robot.Firstly,based on key performance indicators such as stability,load-bearing capacity,and environmental adaptability,D-H Param-eter method is used to analyze Forward Kinematics and Inverse Kinematics on the robot's motion joints.Secondly,the Kutzbach-Grubler formula is used to calculate the robot's degrees of freedom,and the Creep crawling gait is used to analyze the robot's gait,achieving a biomimetic design of the robot's mechanical structure,including leg configuration,motion mode,and joint layout.Finally,it uses the simulation function of Solidworks to conduct static stress analysis on various components of the robot and test its load-bearing function.The simulation results show that the robot is designed reasonably and has obvious load-bearing function,laying a foundation for further physical prototype production and field application.