兵工自动化2017，Vol.36Issue(5)：73-76,4.DOI:10.7690/bgzdh.2017.05.019
仿生四足机器人结构设计与运动学分析
Structure Design and Kinematics Analysis of Bionic Quadruped Robot
张千伟 1张龙1
作者信息
- 1. 南京理工大学机械工程学院,南京 210094
- 折叠
摘要
Abstract
A 5-DOF mechanical leg is designed to meet the requirements of the quadruped robot's work in the wild. The mechanical leg which is based on the modular design contains 3 sub-modules called coax, femur and tibia, respectively. The work space of mechanical leg is given by the analysis of its forward kinematics analysis in the Matlab simulation environment. Combined with body structure of quadruped robot, design a continuous crawling gait and accomplish the trajectory planning of the foot and use gradient projection method to carry out inverse kinematics solving for redundant mechanical leg. Carry out kinematics simulation in Adams. The simulation results show that 5-DOF mechanical leg joints can realize the continuous crawling gait in the case of avoiding joints' limit angle besides centroid displacement curve of quadruped robot continually keep smooth as time goes by.关键词
五自由度/机械腿/梯度投影法/运动学求解/轨迹规划Key words
5-DOF/mechanical leg/gradient projection method/kinematics solution/trajectory planning分类
信息技术与安全科学引用本文复制引用
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):73-76,4.
