一种四足机器人机构及运动学研究

四足机器人凭借离散式的支撑方式,具有比轮式和履带式机器人更强的非结构化环境适应能力,在抢险救灾、星际探索、军事反恐等领域具有广阔的应用前景。针对四足机器人运动的低惯性、高稳定性等性能需求,以德国牧羊犬为仿生对象,开展了基于连杆机构的四足机器人机构及运动学研究。通过对移动步态的研究,为满足机器人快速移动的需求,确立了以对角步态为主要移动方式。最终,搭建实体样机,通过实验验证了机构设计及步态规划的有效性,满足机器人运动的稳定性及适应性。

Research on the Mechanism and Kinematics of the Quadruped Robot

Via the mode of discrete support, quadruped robots have the greater non-structured ability of adapting the environment than wheeled robots and tracked robots, and offer broad prospects in rescue and relief work, interplanetary exploration and military counter-terrorism fields. According to the low inertia and high stability required of the quadruped robots, by imitating the German shepherd, a mechanism and kinematics research for quadruped robots was done based on the linkage in this article. In order to meet the needs of the rapid movement of the robot, the study of the movement gait has established the diagonal gait as the main movement way. Finally, the physical prototype is set up, and the validity of the mechanism design and the gait planning is verified by experiment. The robot can meet the stability and adaptability of the movement.