小型化四足机器人的运动学分析及仿真研究

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In order to reduce energy consumption and improve effective working time of quadruped robot in the harsh environment, the structure scheme of miniaturization quadruped robot was designed. The motion model of the quadruped robot was described. The control system, the deceleration transmission mechanism, decomposition transmission mechanism and intermittent distribution mechanism were introduced. Aiming for the simplified model of the robot, kinematics analysis was studied on the basis of robot structure. The motion simulation of miniaturization quadruped robot was carried out with the ADAMS platform based on Pro/E model. The analysis of the walking state of bilateral leg was focused on in gait switching. The reason of velocity mutation was summarized. The results indicate that the miniaturization quadruped robot can achieve stable movement, and then it verifies reliability of the robot design.为降低四足机器人的工作能耗,提高其在恶劣环境下的有效工作时间,提出了一种小型化四足机器人的设计方案。首先,说明了该四足机器人的运动方式,详细介绍了其控制系统、减速传动机构、分解传动机构、间歇分配机构和腿部机构;然后,针对该小型化四足机器人的简化模型进行了运动学分析,将运用Pro/E软件建立好的小型化四足机器人模型导入ADAMS软件中,再基于ADAMS平台进行了三维四足机器人模型的运动仿真;最后,重点分析了该四足机器人双侧腿部进行步态切换时的行走状态,总结出了其速度曲线突变的原因。研究结果表明,该小型化四足机器人可以实现稳定的运动,进而验证了机器人设计方案的可靠性。