[1]胡家信 秦海鹏 朱小明.四足机器人腿部结构设计与分析[J].大众科技,2022,24(11):1-5.
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四足机器人腿部结构设计与分析()
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《大众科技》[ISSN:1008-1151/CN:45-1235/N]

卷:
24
期数:
2022年11
页码:
1-5
栏目:
信息技术与通信
出版日期:
2022-11-20

文章信息/Info

Title:
Design and Analysis of Leg Structure of Quadruped Robot
作者:
胡家信 秦海鹏 朱小明
（长安大学工程机械学院，陕西 西安 710064）
关键词:
四足机器人; 结构设计; 运动学分析; 静力学分析
Keywords:
quadruped robot structural design kinematics analysis statics analysis
文献标志码:
A
摘要:
为了提高四足机器人的能量密度和在复杂地形下的机动性，文章设计了一种具有四自由度的四足机器人单腿结构。首先，参考哺乳动物的腿部仿生拓扑结构，搭建了四足机器人的单腿三维模型。其次，通过DH模型法，对其进行正逆运动学分析，求解机构的正逆运动学方程。之后，根据求得的正向运动学方程，利用matlab对机器人足端的运动空间进行分析，绘出足端运动空间云图。最后，通过速度分析和静力学分析，得出机器人各个关节的额定转矩，验证该机构的可行性。
Abstract:
In order to improve the energy density and maneuverability of the quadruped robot in complex terrain, a single-leg structure of the quadruped robot with four degrees of freedom is designed in this paper. Firstly, referring to the mammalian leg bionic topology, a single-leg 3D model of the quadruped robot is built. Secondly, the forward and inverse kinematics of the quadruped robot are analyzed by DH model method, and the forward and inverse kinematics equations of the mechanism are solved. Afterwards, according to the obtained forward kinematics equations, use matlab to analyze the motion space of the robot foot, and draw a cloud map of the foot motion space. Finally, through speed analysis and static analysis, the rated torque of each joint of the robot are obtained to verify the feasibility of the mechanism.

参考文献/References:

[1]　HYUN D J, SEOK S, LEE J, et al. High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah[J]. International Journal of Robotics Research, 2014, 33(11): 1417-1445. [2] 李鹏飞. 四足机器人结构设计与运动学仿真分析[D]. 昆明: 昆明理工大学，2019. [3] 马宗利，刘永超，朱彦防，等. 奔跑四足机器人腿结构设计与分析[J]. 东北大学学报(自然科学版)，2016，37(9): 1305-1310. [4] SEN M A, BAKIRCIOGLU V, KALYONCU M. Inverse kinematic analysis of a quadruped robot[J]. International Journal of Scientific and Technology Research, 2017, 6(9): 285-289. [5] 张千伟，张龙. 仿生四足机器人结构设计与运动学分析[J]. 兵工自动化，2017，36(5): 73-76. [6] WANG H, SANG L, HU X, et al. Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism[J]. Chinese Journal of Mechanical Engineering, 2013, 26(5): 881-891.

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备注/Memo

备注/Memo:
【收稿日期】2022-08-23 【作者简介】胡家信（1997－），男，长安大学工程机械学院在读硕士研究生，研究方向为机器人控制。
更新日期/Last Update: 2023-03-08