仿生六足机器人的结构设计及运动分析
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摘要
在分析多足昆虫结构特点和运动功能特点的基础上,完成了仿生六足机器人的结构设计和样机制作。基于ADAMS与MATLAB联合编程,设计仿生六足机器人CPG(中枢模式发生器)控制模型。基于ADAMS对六足机器人进行直行步态运动仿真分析,得出六足机器人的直线运动步态控制数据。通过对样机实验,结果表明仿生六足机器人的运动稳定,满足设计要求。
On the basis of analyzing the structural characteristics and motion function of galley worm, a research on structural design and prototype manufacture of hexapod bionic robot was completed. The control model of CPG(Central Pattern Generator) for hexapod bionic robot was designed based on the joint programming of ADAMS and MATLAB. The control data of linear motion gait for hexapod robot was obtained based on the simulation analysis by ADAMS. The experiment results show that the hexapod bionic robot moves stably, satisfying the requirements of design.
On the basis of analyzing the structural characteristics and motion function of galley worm, a research on structural design and prototype manufacture of hexapod bionic robot was completed. The control model of CPG(Central Pattern Generator) for hexapod bionic robot was designed based on the joint programming of ADAMS and MATLAB. The control data of linear motion gait for hexapod robot was obtained based on the simulation analysis by ADAMS. The experiment results show that the hexapod bionic robot moves stably, satisfying the requirements of design.
引文
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[15] HUANG Q J,FUKUHARA Y.Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot[C]//Proceedings of the IEEE/RSJ,2006:5232-5237.
[2] 姜树海,孙培,唐晶晶.仿生甲虫六足机器人结构设计与步态分析[J].南京林业大学学报(自然科学版),2012(11):115-120.JIANG S H,SUN P,TANG J J.Structural Design and Gait Analysis of Hexapod Bionic Robot[J].Journal of Nanjing Forestry University(Natural Science Edition),2012(11):115-120.
[3] 柳天虹,姜树海.仿生六足机器人稳定性分析与仿真[J].计算机仿真,2013(12):360-364.LIU T H,JIANG S H.Stability Analysis and Simulation of Bionic Hexapod Robot[J].Computer Simulation,2013(12):360-364.
[4] 张扬,韩宝玲,罗庆生.基于虚拟样机技术的仿生六足机器人的动力学研究[J].机械设计与制造,2008(3):145-147.ZHANG Y,HAN B L,LUO Q S.Research on Hexapod Walking Biorobot Kinetics Based on Virtual Prototyping Technology[J].Machinery Design and Manufacture,2008(3):145-147.
[5] 李超.仿生液压四足机器人步态生成器的设计与研究[D].北京:北京理工大学,2015.
[6] HUTTER M,SOMMER H,GEHRING C,et al.Quadrupedal Locomotion Using Hierarchical Operational Space Control[J].The International Journal of Robotics Research,2014,33(8):1047-1062.
[7] 陈波,唐晶晶,姜树海.基于ADAMS的仿生六足机器人运动仿真[J].计算机仿真,2012(9):182-186.CHEN B,TANG J J,JIANG S H.Kinematics Simulation of Biomimetic Hexapod Robot Based on ADAMS[J].Computer Simulation,2012(9):182-186.
[8] 罗庆生,罗霄.仿生四足机器人技术[M].北京:北京理工大学出版社,2016:81-103.
[9] CHILIAN A,HIRSCHMULLER H,GORNER M.Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot[C]//Proceedings of IEEE/RSJ International Conference on Inte lligent Robots and Systems.San Francisco,CA,USA,2011:25-30.
[10] 张金柱,金振林,陈广广.六足步行机器人腿部机构运动学分析[J].农业工程学报,2016(5):46-51.ZHANG J Z,JIN Z L,CHEN G G.Kinematic Analysis of Leg Mechanism of Six-legged Walking Robot[J].Transactions of the Chinese Society of Agricultural Engineering,2016(5):46-51.
[11] CELAYA E,PORTA J M.A Control Structure for the Locomotion of a Legged Robot on Difficult Terrain[C]//Proceedings of IEEE Robotics & Automation,1998:43-51.
[12] 徐坤,丁希仑,李可佳.圆周对称分布六腿机器人三种典型行走步态步长及稳定性分析[J].机器人,2012(3):231-256.XU K,DING X L,LI K J.Stride Size and Stability Analysis of a Radically Symmetrical Hexapod Robot in Three Typical Gaits[J].Robot,2012(3):231-256.
[13] ROVETTA A,王志英,丁希仑.六腿机器人的典型步态及其运动性能分析[C]//2009中国智能自动化会议论文集,2009:733-739.
[14] WU X,LI Y Y.Posture Synthesis and Control of a Symmetric Hexapod Robot on Corrugated Surfaces for Underwater Observation[C]//Proceedings of ASME International Mechanical Engineering Congress and Exposition,2007.
[15] HUANG Q J,FUKUHARA Y.Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot[C]//Proceedings of the IEEE/RSJ,2006:5232-5237.