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步行机器人移动能效率研究有重要意义。针对四足机器人对角小跑步态,对比分析了三种不同足端轨迹的移动能效率问题。将四足机器人的对角小跑步态周期分为摆动相和支撑相,采用D-H坐标法和反变换法进行了腿机构运动学正逆解分析。基于刚体动力学的质心运动定理分析足端接触模型,考虑动态步行中足端与地面间的接触,曲雅可比矩阵建立步行中足端接触力与关节驱动力矩的映射关系,并基于拉格朗日动力学建模法对四足机器人摆动相和支撑相分别进行动力学建模。规划了三种不同足端轨迹,分别为摆线函数、正弦函数和直线函数,对比分析了三种足端轨迹下的运动学和动力学特性。进行完整对角小跑步态周期的能量消耗分析,以移动能耗率为评价指标,对比分析三种足端轨迹的能量消耗,研究四足机器人步高、步距、关节起始角等步态参数对移动能量消耗的影响,为四足机器人的参数优化和轨迹规划提供理论依据。
Research on mobile energy efficiency of walking robots is of great significance. In view of the diagonal trotting behavior of quadruped robot, the mobile energy efficiency of three different footprints is analyzed. The quadruped robot’s diagonal trotting gait cycle is divided into the oscillating phase and the supporting phase. The kinematic inverse kinematics analysis of the leg mechanism is carried out by D-H coordinate method and inverse transformation method. Based on the rigid body dynamics and the centroid motion theorem, the foot-end contact model is analyzed. The contact between the foot and the ground is considered in the dynamic walk. The Quarkian matrix is used to establish the mapping relationship between the foot-end contact force and the joint driving torque during walking. The dynamic modeling method is used to model the dynamics and the support of the quadruped robot. Three different foot trajectories were planned, which are cycloidal function, sine function and linear function respectively. The kinematics and dynamics of the three footed trajectories were compared and analyzed. The energy consumption of the complete diagonal trotting gait cycle was analyzed. The mobile energy consumption rate was taken as the evaluation index to compare and analyze the energy consumption of the three kinds of foot trajectories. The gait, steps and joint start angles of the quadruped robot were studied. The influence of parameters on mobile energy consumption provides a theoretical basis for parameter optimization and trajectory planning of quadruped robot.