六足机器人爬楼步态与仿真
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摘要
为提高六足机器人对楼梯障碍物的适应能力,设计一种半圆型腿式的六足机器人。根据机器人的结构特点,规划了六足机器人爬楼梯中的四足步态。基于步态规划,分析和建立了四足步态的运动学模型。通过对各条腿的支撑相角度和摆动相角度的调整,用ADAMS软件对机器人进行了动态仿真。仿真结果表明:六足机器人结构设计合理,在四足步态下能实现连续爬楼梯,且机器人的机体质心位移曲线在时间上连续光滑,验证了运动学模型的有效性。
In order to improve the adaptability of the 6 legged robot to the staircase obstacles, a semicircular leg type 6 legged robot is designed. According to the structure characteristics of the robot, the 4 legged gait of the 6 legged robot climbing staircase is planned. Based on gait planning, the kinematic model of quadruped gait is analyzed and established.By adjusting the rotation angle and swing angle of each leg, the dynamic simulation of the robot is carried out with ADAMS software. The simulation results show that the structure design of the 6 legged robot is reasonable, the quadruped gait with climbing stairs can achieve continuous climbing stairs, and the centroid displacement curve of the robot continually keep smoothly as time goes by, which validates the validity of the kinematics model.
In order to improve the adaptability of the 6 legged robot to the staircase obstacles, a semicircular leg type 6 legged robot is designed. According to the structure characteristics of the robot, the 4 legged gait of the 6 legged robot climbing staircase is planned. Based on gait planning, the kinematic model of quadruped gait is analyzed and established.By adjusting the rotation angle and swing angle of each leg, the dynamic simulation of the robot is carried out with ADAMS software. The simulation results show that the structure design of the 6 legged robot is reasonable, the quadruped gait with climbing stairs can achieve continuous climbing stairs, and the centroid displacement curve of the robot continually keep smoothly as time goes by, which validates the validity of the kinematics model.
引文
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[2]MOORE E Z,CAMPBELL D,GRIMMINGER F,et al.Reliable stair climbing in the simple hexapod'RHex'[C]//IEEE International Conference on Robotics and Automation,2002.Proceedings.ICRA.IEEE,2002:2222-2227.
[3]VU Q H,KIM B S,SONG J B.Autonomous stair climbing algorithm for a small four-tracked robot[C]//International Conference on Control,Automation and Systems.IEEE,2008:2356-2360.
[4]乔凤斌,杨汝清.六轮移动机器人爬楼梯能力分析[J].机器人,2004,26(4):301-305.
[5]朱坚民,李付才,李海伟,等.轮腿式爬楼梯移动机器人的设计及运动特性分析[J].中国机械工程,2013,24(20):2722-2730.
[6]谭兴军.偏心轮腿六足机器人设计与分析[D].重庆:西南大学,2011:1-65.
[7]陈兴芳.预顺腿仿生六足机器人控制系统的设计与实[D].南京:东南大学,2011:1-59.
[8]于常娟,张明路,李满宏.六足仿生机器人步态规划与足端可达空间分析[J].机械设计与研究,2014,30(5):53-55.
[9]孔子文,张世武,许旻.六足机器人爬楼梯步态规划[J].机械与电子,2014(9):77-80.
[10]康玉辉.基于虚拟样机技术的六轮腿移动机器人研究[D].南京:南京理工大学,2007:1-60.