森林工程2017，Vol.33Issue(1)：52-58,7.
基于连杆机构的四足仿生机器人运动学分析及足迹优化
The Kinematics Analysis and Footprint Optimization of the FourLegged Bionic Robot Based on Linkage Mechanism
摘要
Abstract
The purpose of this paper is to verify the rationality of the design of the bionic robot's legs.In the design process，the open design of thigh and leg is often used,but the closed design has the advantages of simple control,less driving and weight reduction.The closed Chebyshev linkage was used as the robot's legs in this design.The kinematic modeling of the linkage mechanism was carried out firstly,then the forward and inverse solutions were calculated,and the results were simulated to draw the relationship between the angles and the curves.The curves contrast simulation diagrams were drew by comparing the curves.Finally,the trajectory optimization and simulation of the four legged bionic robot were conducted and the result was better.It was concluded that the linkage mechanism can be used as the leg of the robot and the robot has a certain stability of the center of gravity.关键词
机器人/仿生/运动学分析/仿真Key words
robot/bionics/kinematic analysis/simulation分类
信息技术与安全科学引用本文复制引用
韩晓建,杨卫杰,高寰宇,周永康..基于连杆机构的四足仿生机器人运动学分析及足迹优化[J].森林工程,2017,33(1):52-58,7.基金项目
国家自然科学基金(基金号51175013) （基金号51175013）
