四足侦察机器人的设计与研究
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摘要
针对便携式、微型化多地形适应型侦察设备的迫切需求,从仿生的角度设计出了一款四足侦察机器人。在确定采取外肘内膝总体对称布置后,首先完成了机器人腿部、支架和外壳等机构和结构件设计;随后对其中的腿部支撑、传动减振和关节驱动函数进行了设计说明;最后在动力学仿真软件中对四足机器人腿关节运动、整机运动、足端运动进行了运动学分析和慢跑步态的动力学分析,证明该机器人在运动平稳性和速度稳定性方面能够满足侦察设备的要求。
Aiming at the urgent need of portable,miniaturized recon equipment fits for all kinds of terrain,a four-leg recon robot is designed based on the perspective of bionics. At first,the structures of robot,such as legs,support,shell and other parts are completed after choosing the whole symmetric structure of outside elbow and inside knee. Then,the design and description of its leg support,transmission,shock absorption and joint-driving functions are carried out. At last,the kinematics analysis of the movement of leg joints,robot body and the tip of the leg and the dynamics analysis of jogging gait are carried out through dynamics simulation software,it is proved that this robot could meet the requirement of stability of motion and velocity of recon equipment.
Aiming at the urgent need of portable,miniaturized recon equipment fits for all kinds of terrain,a four-leg recon robot is designed based on the perspective of bionics. At first,the structures of robot,such as legs,support,shell and other parts are completed after choosing the whole symmetric structure of outside elbow and inside knee. Then,the design and description of its leg support,transmission,shock absorption and joint-driving functions are carried out. At last,the kinematics analysis of the movement of leg joints,robot body and the tip of the leg and the dynamics analysis of jogging gait are carried out through dynamics simulation software,it is proved that this robot could meet the requirement of stability of motion and velocity of recon equipment.
引文
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[2]丁良宏.Big Dog四足机器人关键技术分析[J].机械工程学报,2015,51(7):1-23.
[3]何冬青.JTUWM-Ⅲ四足机器人trot步态运动特性研究[D].上海:上海交通大学,2006:2-4
[4]黄博,王鹏飞,孙立宁.复合运动四足机器人行为模式控制体系设计[J].机床与液压,2007,35(4):157-159.
[5]WANG Pengfei,HUANG Bo,SUN Lining.Walking Research on Multi-motion Mode Quadruped Bionic Robot Based on Moving ZMP[C]∥Processing of the IEEE International Conference on Mechatronics&Automation Niagara Falls,July 29-August 1,Canada:IEEE,c2005:1935-1940.
[6]郑辉,王敏,王新杰,等.轮腿复合式四足机器人设计及运动学分析[J].机械传动,2015,39(1):57-61.
[7]王邵丽.四足多关节机器人系统研究[D].西安:长安大学,2015:3-4.
[8]周立炜,菜芸.仿生四足机器人的仿真研究[J].机械传动,2013,37(9):30-33.
[9]马宗利,李华,王建明,等.四足机器人结构设计与仿真分析[J].机械设计,2012,29(7):34-42.