摘要： 仿生四足机器人腿部结构设计与生物腿部实际结构存在差异,足端与地面的刚性接触力对于控制其运动平稳和收敛会产生不利影响。为解决上述问题,分析德国牧羊犬骨骼结构,通过图像处理和分析手段获取牧羊犬对角小跑步态运动中四肢各关节的运动规律,设计一款四足机器人。该机器人足端具有转化足端与地面刚性接触为柔性接触的机构。根据正运动学和逆运动学理论分析模型足端工作空间。将仿真获得的受力曲线与实际受力曲线进行对比,结果表明,运动控制函数和柔性机构更有助于四足机器人的运动平稳。

关键词: 四足机器人, 轨迹, 变化规律, 机械结构, 摆动角度

Abstract: The design structure on leg of bionic quadruped robot leg is different from the actual structure of the biological leg,and the rigid contact force between foot and ground has an adverse effect on the control of motion stability and convergence.To solve the problems above,after analyzing the bone structure of the German shepherd and through image processing and analysis,the movement law of each joint of limbs during diagonal trot is obtained,and a quadruped robot is designed.The foot end of the robot has a mechanism to converse the contact between the foot and ground from rigid to flexible.According to the theory of forward kinematics and inverse kinematics,the foot end workspace of the model is analyzed.The force curve gotten by simulation is compared with the actual force curve,and the result shows that the function of motion control can achieve smooth motion,and the existence of the flexible mechanism design is more helpful on stability of quadruped robot motion.

Key words: quadruped robot, trajectory, change rule, mechanical structure, pendulum angle

中图分类号: 

• TP242