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四足机器人的各种研究大多基于四条腿弯曲方向一致展开的。对于液压驱动且具有冗余度的四足机器人,静止姿态下,其前面两条腿与后面两条腿成对称弯曲状。为了研究这种机器人单腿运动和躯体运动状态,文中建立了基于螺旋理论的液压驱动四足机器人运动学模型,包括给出了单腿串联运动学逆解和躯体并联运动学正解。然后根据机器人行走过程设计出后面两条腿的髋关节与膝关节摆幅角度,通过建立的运动学模型,得到前面两条腿的关节变量及躯体姿态。最后通过MATLAB数值仿真和ADAMS虚拟样机实验,对机器人在一种行走方案下的躯体运动姿态进行仿真对比,验证了所建运动学模型的可靠性。
Various studies of quadruped robots are mostly based on the consistent bending of four legs. For a hydraulically actuated quadruped robot with redundancy, the front two legs are symmetrically curved with the two rear legs in a rest position. In order to study the robot’s one-leg motion and the body motion, a kinematics model of a hydraulically driven quadruped robot based on spiral theory is established in this paper. Then, according to the robot’s walking process, the angle of swing between the hip and knee of the two back legs is designed. Through the established kinematics model, the joint variables and body posture of the front two legs are obtained. Finally, by MATLAB numerical simulation and ADAMS virtual prototyping experiments, the robot’s motion posture under a walking program is simulated and compared, which proves the reliability of the kinematics model.