机电工程技术2025，Vol.54Issue(10)：105-108,4.DOI:10.3969/j.issn.1009-9492.2025.10.021
基于Chebyshev连杆的机器人腿部结构优化设计
Optimization Design of Robot Leg Structure Based on Chebyshev Linkage
摘要
Abstract
Because the articulated mechanical leg needs to install a driver at each joint,the load of the driver at the joint increases,which makes the controller design of the articulated mechanical leg difficult.To this effect,a mechanical leg is designed based on the Chebyshev linkage.The structure only needs to install a driver,and then drives the foot trajectory movement through the interaction of forces between the connecting rods.Firstly,the motion configuration of the leg structure of the robot is analyzed.According to the requirements of the motion trajectory,the mechanical leg structure based on Chebyshev linkage is designed,and the foot trajectory of the leg structure is derived.Then,the modified cycloid model is used to optimize the foot trajectory.The minimum mean square error of n points between the actual motion trajectory and the expected motion trajectory is taken as the optimization objective.The Fmincon function is used to calculate the optimal size of the rod length of each mechanism in the leg structure of the robot,so that the foot trajectory of the leg structure of the robot is a closed motion trajectory,and there is no sudden change in speed.Finally,the three-dimensional model of the leg structure of the robot is drawn by Solidworks three-dimensional software,and the simulation verifies that the designed leg structure can achieve the desired trajectory.关键词
Chebyshev连杆/机械腿结构/修正摆线模型/优化设计Key words
Chebushev linkage/leg structure/modified cycloid model/optimize design分类
信息技术与安全科学引用本文复制引用
魏文彬,李勇兵,张国丽..基于Chebyshev连杆的机器人腿部结构优化设计[J].机电工程技术,2025,54(10):105-108,4.基金项目
四川信息职业技术学院校内项目(2020C14) （2020C14）
