农业机械学报2018，Vol.49Issue(2)：385-394,418,11.DOI:10.6041/j.issn.1000-1298.2018.02.050
气动柔性关节仿生六足机器人步态规划与运动性能研究
Gait Planning and Kinematics of Bionic Hexapod Robot Based on Pneumatic Flexible Joint
摘要
Abstract
A pneumatic bionic hexapod robot employing independent-developed multidirectional bending pneumatic joints was presented.The configuration of hexapod robot was similar to the spider,and the flexible joints of legs of robot were driven by the deformation at different air pressures.By investigating the characteristics of leg movement of robot,the gait of the hexapod robot was planned based on the tripod gait,including the straight walking gait and the turning gait.In addition,the simulation and experiments on walking gait of robot were done,respectively.The kinematics model of hexapod robot was set up according to the mechanism of joint deformation,and the relation between the center mass of robot and foot positions was got.The step,rotation angle and speed of hexapod robot were analyzed,which were verified by the experiments subsequently.The kinematics experiments of hexapod robot were completed and the workspace of the foot was studied on 3D motion capture system.Meanwhile,the movement performances of the hexapod robot on different loads were investigated with each stride frequency under different pressures.The experiments showed that the hexapod robot can stride forward,move horizontally or make a turn with the movement of each leg cooperated in harmony by controlling the pressure control system in accordance with the gait planned.The maximum speed of hexapod robot was 100 mm/s,and the load capacity was 0.5 kg.The research result laid the foundation for the application of pneumatic bionic hexapod robot in the complex agricultural environment.关键词
气动柔性关节/六足机器人/步态规划/运动性能Key words
pneumatic flexible joint/bionic hexapod robot/gait planning/kinematics performance分类
机械制造引用本文复制引用
赵云伟,耿德旭,刘晓敏,刘荣辉,刘齐..气动柔性关节仿生六足机器人步态规划与运动性能研究[J].农业机械学报,2018,49(2):385-394,418,11.基金项目
国家自然科学基金项目(51275004)、吉林省自然科学基金项目(20150101026JC)和北华大学青年教师提升计划项目 （51275004）
