机器人2018，Vol.40Issue(2)：136-145,10.DOI:10.13973/j.cnki.robot.170443
连续电驱动四足机器人腿部机构设计与分析
Design and Analysis of a Leg Mechanism for a Continuous Electrically-Driven Quadruped Robot
摘要
Abstract
A continuous electric driving scheme for quadruped robot leg (that is, the motor rotates cyclically to drive the leg to swing and step) is proposed. A robot leg structure with two-degree-of-freedom double crank composite link mechanism is designed, which is composed of a Chebyshev mechanism and a five-bar mechanism. The trajectory characteristics of animal foot are analyzed, and the elliptic curve with smooth trajectory, no mutation and continuous derivative is used to plan robot foot trajectory. With the implementation of the planned foot trajectory as the optimization objective, the optimum size of leg mechanism is obtained with the genetic algorithm and the interior point method in fmincon function. On this basis, a simulation model of quadruped robot is built, and the motion characteristics of foot are analyzed through Adams simulation. A performance test platform for leg structure is also developed. The experiment of single foot motion trajectory tracking is conducted to verify the feasibility of the proposed robot leg structure.关键词
连续电驱动/四足机器人/腿部机构/优化设计/多连杆机构Key words
continuous electrically driven/quadruped robot/leg mechanism/optimization design/multi-linkage mecha-nism分类
信息技术与安全科学引用本文复制引用
柏龙,龙樟,陈晓红,江沛,陈锐,官渐..连续电驱动四足机器人腿部机构设计与分析[J].机器人,2018,40(2):136-145,10.基金项目
国家自然科学基金(51405046,51705050,51505044) （51405046,51705050,51505044）
重庆市基础科学与前沿技术研究专项(cstc2016jcyjA0472) （cstc2016jcyjA0472）
中国兵器工业集团高等院校协同创新合作专项(KH2016006) （KH2016006）
重庆市研究生科研创新项目(CYS17020,CYS17021). （CYS17020,CYS17021）
