气动仿生六足机器人腿部设计与运动实验
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摘要
为了提高气动仿生六足机器人的灵活性,机器人腿部采用三自由度气动空间弯曲柔性关节驱动,腿部装有抬升机构,可改变腿部的抬升高度,调整机器人重心高度。建立了腿部抬升高度和步距模型,利用三维运动捕捉系统,获得机器人腿部抬升高度、关节形变和足部工作空间,并分析了六足机器人越障高度。通过理论计算和实验可知,机器人腿部运动灵活,可跨越高度为30 mm的障碍。该研究为气动柔性关节仿生六足机器人的步态规划和控制提供了参考。
To improve the flexibility of the pneumatic hexapod robot,the legs of hexapod robot were driven by tri-muscle pneumatic space bending flex joints.The leg was equipped with lifting mechanism,which could change the lifting height of the leg and adjust the height of the center of gravity of the robot.The lifting height and step distance model of robot leg were built.3 D motion capture system was used to acquire the lifting height of robot leg,joint deformation and foot working space,and the obstacle crossing height of the hexapod robot was analyzed.The calculation and experiments show that the motions of legs are flexible and the robot can pass through the barrier with 30 mm height.The achieved results provide references to the gait planning and control.
To improve the flexibility of the pneumatic hexapod robot,the legs of hexapod robot were driven by tri-muscle pneumatic space bending flex joints.The leg was equipped with lifting mechanism,which could change the lifting height of the leg and adjust the height of the center of gravity of the robot.The lifting height and step distance model of robot leg were built.3 D motion capture system was used to acquire the lifting height of robot leg,joint deformation and foot working space,and the obstacle crossing height of the hexapod robot was analyzed.The calculation and experiments show that the motions of legs are flexible and the robot can pass through the barrier with 30 mm height.The achieved results provide references to the gait planning and control.
引文
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[2] ROY S S,PRATIHAR D K.Soft Computing-based Expert Systems to Predict Energy Consumption and Stability Margin in Turning Gaits of Six-legged Robots[J].Expert Systems with Applications,2012,39(5):5460-5469.
[3] DELCOMYN F,NELSON M E.Architectures for a Biomimetic Hexapod Robot[J].Robotics and Autonomous Systems,2000,30(1/2):5-15.
[4] SHIM H,JUN B H,LEE P M.Mobility and Agility Analysis of a Multi-legged Subsea Robot System[J].Ocean Engineering,2013,61(6):88-96.
[5] 邓宗全,刘逸群,高海波,等.液压驱动六足机器人步行腿节段长度比例研究[J].机器人,2014,36(5):544-551.DENG Z Q,LIU Y Q,GAO H B,et al.On the Segment Length Ratio of the Walking Leg of a Hydraulically Actuated Hexapod Robot[J].Robot,2014,36(5):544-551.
[6] 刘逸群,邓宗全,刘振,等.液压驱动六足机器人一种低冲击运动规划方法[J].机械工程学报,2015,51(3):10-17.LIU Y Q,DENG Z Q,LIU Z,et al.Low-impact Motion Planning Method of Hydraulically Actuated Hexapod Robot[J].Journal of Mechanical Engineering,2015,51(3):10-17.
[7] 荣誉,金振林,曲梦可.三自由度并联机械腿静力学分析与优化[J].农业工程学报,2012,28(20):41-49.RONG Y,JIN Z L,QU M K.Statics Analysis and Optimal Design of 3-DOF Parallel Mechanical Leg [J].Transactions of the Chinese Society of Agricultural Engineering,2012,28(20):41-49.
[8] 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,2016,32(9):45-52.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,2016,32(9):45-52.
[9] 荣誉,金振林,崔冰艳.六足农业机器人并联腿构型分析与结构参数设计[J].农业工程学报,2012,28(15):9-14.RONG Y,JIN Z L,CUI B Y.Configuration Analysis and Structure Parameter Design of Six-leg Agricultural Robot with Parallel-leg Mechanisms[J].Transactions of the Chinese Society of Agricultural Engineering,2012,28(15):9-14.
[10] 耿德旭,刘洪波,刘晓敏,等.气动空间弯曲柔性关节运动功能实验研究[J].液压与气动,2015(11):41-44.GENG D X,LIU H B,LIU X M,et al.Movement Functional Experiments Study on Pneumatic Space Bending Flexible Joint[J].Chinese Hydraulics & Pneumatics,2015(11):41-44.