摘要
为了研制适应松软地面行走的仿生机器人,本文研究了鸭子行走时其脚部的运动特征及脱土原理。首先分析了鸭脚的显微结构与生物特征,然后对鸭子在松软地面上行走的图像进行捕捉和分析,使用D-H法构建了鸭脚的运动学模型,并利用雅可比矩阵给出了鸭脚掌各关节角速度与脚踝关节速度的表达式。通过计算,给出了鸭脚踝水平、竖直方向的位移曲线,与实验平台捕捉到的脚踝运动轨迹对比,验证了该运动学分析的正确性。研究发现鸭脚表皮具有减粘结构,脚趾在触地时快速下落,离地时逐节抬起,有利于减少粘附土壤;脚掌触地阶段踝关节水平位移约110mm,高度变化约55mm。
In order to develop a robot that faces a muddy environment, the characteristics of the foot movement and the principle of soil removal during duck movement are studied. Firstly, the microstructure and biological characteristics of duck feet were analyzed, and then the images of ducks walking on soft ground were then captured and analyzed. The kinematic model of duck toes were established by D-H method, and the expressions of angular velocity of each joint and ankle joint velocity were given by Jacobian matrix. Through calculation,the duck ankle displacement curve of horizontal and vertical direction were given, compared with ankle motion trajectory of experimental platform to capture, the correctness of the proposed kinematics analysis were verified. The study found that the skin of duck feet has a viscosity-reducing structure, and toes drop quickly as they hit the ground and lift up section by section when they are off the ground,which helps reduce adhesion to the soil;the horizontal displacement of the ankle joint is about 110mm, and the height change is about 55mm when the soles of the feet touch the ground.
作者
张晓冬
李媛媛
ZHANG Xiao-Dong;LI Yuan-Yuan(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang Liaoning110168,China)
出处
《机电产品开发与创新》
2022年第2期87-90,共4页
Development & Innovation of Machinery & Electrical Products
基金
辽宁教育厅研究一般项目(Z2216033)。
关键词
仿生机器人
运动学分析
运动轨迹
步态分析
Bionic robot
Kinematics analysis
Motion trajectory
Gait analysis
作者简介
张晓冬(1983-),男,辽宁绥中人,博士,讲师。研究方向:仿生机器人,已发表仿生机器人方向文章10余篇;李媛媛(1997-),女,安徽肥西人,硕士研究生。研究方向:仿生机器人。
