摘要
基于运动功能仿生设计了一种新型三自由度耦合并联机械腿并且应用到足式全向步行机器人当中,并对机器人整机性能进行了研究分析.首先,建立了运动学模型,应用几何法分析了运动学正逆解,利用逆解搜索法得到了可达工作空间.然后,采用虚功原理计算了驱动关节静力矩,规划了四足机器人的全向步态和足端轨迹.最后,完成了虚拟样机仿真分析并制作了原理样机,进行了样机的步态实验.通过分析可知:机构具有良好的稳定性和加速度连续性,其足端具有2R1T三自由度的运动特性;全向运动可以有效地解决在空间受限制的情况下无法完成转向的问题.
This paper designs a new 3-DOF coupling parallel mechanical leg based on the bionics of the motion function and applies it to an omnidirectional footed walking robot,the overall performance of which is studied and analyzed.First,the kinematic model is established,the solution to forward and in⁃verse kinematics is analyzed by the geometric method,and the workspace of accessibility is obtained by method of searching solutions of inverse kinematics.Then,the principle of virtual work is adopted to calculate the static torque on actuating joints,the omnidirectional gaits and the trajectories of the four-footed robot are planned.Finally,the simulation analysis of virtual prototype is completed,the principle prototype is built,and the gait experiment of the prototype is carried out.According to the analysis,the mechanism has high stability and continuity of acceleration,whose feet have 2R1T(3-DOF)motion characteristics,realizing the omnidirectional motion and effectively solving the problem that the turning cannot be completed under limited space.
作者
方跃法
孙天宇
FANG Yuefa;SUN Tianyu(School of Mechanical and Electronic Engineering,Beijing Jiaotong University,Beijing 100044,China)
出处
《北京交通大学学报》
CAS
CSCD
北大核心
2022年第3期158-168,共11页
JOURNAL OF BEIJING JIAOTONG UNIVERSITY
基金
中央高校基本科研业务费项目(2021JBM022)
国家自然科学基金(51975039)。
关键词
步行机器人
并联机构
全向行走
轨迹规划
虚功原理
walking robot
parallel mechanism
omnidirectional walking
trajectory planning
prin⁃ciple of virtual work
