机电工程技术2025，Vol.54Issue(3)：85-90,6.DOI:10.3969/j.issn.1009-9492.2025.03.016
电液四足机器人足端轨迹跟踪特性研究
Research on Foot Trajectory Tracking Characteristics of Electro-hydraulic Quadruped Robot
王栩 1刘桓龙 1徐竞宇 1刘宇骐1
作者信息
- 1. 先进驱动节能技术教育部工程研究中心,成都 610031||西南交通大学机械工程学院,成都 610031
- 折叠
摘要
Abstract
Quadruped robot has better terrain adaptability and trafficability for construction tunnel and other rough and complex terrain.In order to improve the power density and robustness of legs and feet,a 3-DOF quadruped robot is designed with electro-hydraulic compound drive legs and feet.The hip yaw and hip pitch joints are driven by a motor,and the knee joints are driven by a motor-hydraulic cylinder compound.To provide a reasonable basis and reference for the formulation of dynamic control strategies of the quadruped robot in tunnel terrain,the control ability of the foot position of the legs is tested,and the kinematics model of the full end of the legs is constructed using the D-H method.A sinusoidal foot trajectory under trot gait is planned.The foot trajectory control simulation of the planned trajectory is realized using MATLAB robot toolbox.The results show that the foot trajectory of the derived mathematical model is in complete agreement with the trajectory generated by the simulation.A leg and foot motion control test platform is built to test the actual displacement or angle data of actuators under each driving mode,and the foot trajectory curve is calculated.The test results show that the foot trajectory tracking effect with pure motor driven knee joint is the best,electro-hydraulic driven is the second best,and pure hydraulic driven is the worst.关键词
四足机器人/电液腿足/D-H法/足端轨迹Key words
quadruped robot/electrohydraulic leg/D-H method/foot locus分类
计算机与自动化引用本文复制引用
王栩,刘桓龙,徐竞宇,刘宇骐..电液四足机器人足端轨迹跟踪特性研究[J].机电工程技术,2025,54(3):85-90,6.
