摘要
为解决救援机器人运动速度慢、环境适应性差和步态单一等问题,参照海龟与山羊的生理结构,设计了一种四足仿生移动机器人。首先,根据海龟能在松软地面上爬行以及山羊运动能力强的特点,为机器人规划了仿海龟爬行和仿山羊行走两种步态以适应不同环境,提高了机器人的运动性能。然后,对机器人支腿进行了动力学分析,通过建立动力学模型来获取机器人关节扭矩与运动性能参数之间的定量关系。最后,通过仿真和样机实验来验证机器人步态的可行性以及机器人的环境适应能力。结果表明,所设计的机器人结构稳定,步态规划合理,可适应不同的复杂地形。研究结果可为仿生机器人的设计与开发提供重要参考。
In order to solve the problems of slow movement,poor environmental adaptability and single gait of rescue robots,a quadruped bionic mobile robot was designed according to the physiological structure of turtle and goat.Firstly,according to the characteristics of turtle crawling on soft ground and goat's strong movement ability,two gaits imitating turtle crawling and goat walking were planned for the robot to adapt to different environments and improve the robot's movement performance.Then,the dynamics analysis for the robot outrigger was carried out,and the quantitative relationship between the robot joint torque and motion performance parameters was obtained by establishing a dynamics model.Finally,the feasibility of the robot's gait and the robot's adaptability to the environment were verified by simulation and prototype experiments.The results showed that the designed robot had stable structure and reasonable gait planning,which could adapt to different complex terrains.The research results can provide important reference for the design and development of bionic robots.
作者
芮宏斌
王天赐
厍龙林
段凯文
李耒
郭旋
彭家璇
RUI Hongbin;WANG Tianci;SHE Longlin;DUAN Kaiwen;LI Lei;GUO Xuan;PENG Jiaxuan(School of Mechanical and Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048,China)
出处
《工程设计学报》
CSCD
北大核心
2024年第3期309-318,共10页
Chinese Journal of Engineering Design
基金
国家自然科学基金青年科学基金资助项目(51905154)
陕西省教育厅2022年度重点科研计划项目(22JY051)
2023年陕西省科技计划项目(2023-YBGY-357)。
作者简介
芮宏斌(1978-),男,陕西西安人,副教授,博士,从事车辆系统动力学与控制技术、特种移动机器人研究,E-mail:Hongbin.rui@126.com,https://orcid.org/0000-0002-2718-831X;通信联系人:厍龙林(1999-),男,陕西商洛人,硕士生,从事移动机器人研究,E-mail:3518917365@qq.com,https://orcid.org/0009-0001-8228-5446。
