摘要
本文提出一种基于2-SPR/RUPR并联机构的四足步行机器人.用改进复合曲线法规划了机械腿足端行走点轨迹.在四足步行机器人的足端行走点沿前进方向的加速度曲线为正弦函数,沿竖直方向的加速度曲线为分段函数的情形下,通过对前进方向、竖直方向加速度曲线两次积分得到足端轨迹曲线.由足端轨迹曲线变化规律可以得到其运动过程无突变点,足端可以实现无冲击抬腿与着地.仿真实验表明足端速度与加速度曲线与理论曲线一致,验证了理论计算的正确性.使用ZMP方法,通过对比分析机器人在运动过程中的重心调整量以及稳定裕度值得到最优步态.该四足步行机器人具有运动平稳且灵活的特性,适用于田垄等崎岖路面上需要大的移动步幅来运输重物的应用场合.
A quadruped walking robot based on 2-SPR/RUPR parallel mechanism was presented.The trajectory of the foot end walking point of the mechanical leg was planned using the improved compound curve method.In the case that the acceleration curve of the foot end walking point of the quadruped walking robot along the forward direction was a sinusoidal function,and the acceleration curve along the vertical direction was a piecewise function,the trajectory curve of the foot end was obtained by integrating the forward and the vertical direction acceleration twice.From the variation of the trajectory curve of the food end,the foot end had no abrupt point in the movement process and can achieved non-impact leg lifting and landing.The velocity and acceleration curves of the foot end obtained by the simulation experiment are consistent with the theoretical curves,which verify the correctness of the theoretical calculation.Using ZMP method,the optimum gait is obtained by comparing and analyzing the center of gravity adjustment amount and the stability margin value in the process of the robot movement.The quadruped walking robot has the characteristics of smooth and flexible movement,which is suitable for the application of large moving stride to transport heavy objects on the rough road such as ridge.
作者
马世豪
李瑞琴
米文博
宁峰平
张俊辕
MA Shi-hao;LI Rui-qin;MI Wen-bo;NING Feng-ping;ZHANG Jun-yuan(School of Mechanical Engineering, North University of China, Taiyuan 030051, China)
出处
《中北大学学报（自然科学版）》
CAS
2020年第5期397-404,共8页
Journal of North University of China(Natural Science Edition)
基金
山西省重点研发计划(国际科技合作,201903D421051)。
