弹性连杆机构式四足机器人结构设计与分析
首发时间:2017-03-30
摘要:提出了一种新型弹性足式机器人腿部结构设计方法。设计了一种结构简单、响应速度快、抗冲击性强的新型足式机器人腿--LCS-Leg。该机器人腿采用弹性连杆机构和线驱动系统,有效降低了腿部惯量和着地冲击力,提高了机器腿的响应速度和减振抗冲能力。使用复数矢量法和D-H方法建立该机器腿运动学模型,基于此模型求解足端运动工作空间,验证了其优异的越障性能。设计单腿仿真试验平台,对两种不同结构的机器腿和四足机器人进行仿真,对比两者质心位移、前进速度和足端接触力,验证了所设计机器腿的运动性能。试制弹性足式机器人腿及其试验平台,通过实物样机单腿行走试验,验证了设计方法的有效性。并完成了四足机器人整体结构设计。
关键词: 足式机器人 弹性连杆机构 线驱动 单腿试验平台 LCS-Leg
For information in English, please click here
Design and Analysis of a Novel Elastic Linkage Quadruped Robot
Abstract:A Novel hybrid design method of elastic robot leg was proposed. A new kind of robot leg was presented--LCS-Leg, which structure was simple but possessed excellent motion performance and strong impact resistance ability. LCS-Leg was designed by adopting elastic linkage and Cable-Drive system, which improves the leg's reaction rate and vibration impact resistance performance. The kinematic model of the leg was built based on the method of complex vector and Denavit-Hartenberg, then the motion envelope domains were solved to verify the performance of overcoming obstacles. Single leg simulation platform was design. Two kinds of robot leg and quadruped robot carried out simulation on the platform, and the CoM displacement of body, forward velocity and impact force were tested and analyzed to prove the motion performance. Through making single leg walking experiment on the platform, the validity of the design method are verified, and the overall structural design of LCS robot was finished.
Keywords: legged robot elastic linkage mechanism cable-drive system single leg platform LCS-Leg
论文图表:
引用
No.4722687118927214****
同行评议
共计0人参与
勘误表
弹性连杆机构式四足机器人结构设计与分析
评论
全部评论0/1000