4足机器人腿部机构运动学分析及步态规划

为提高足式机器人的承载能力与运行稳定性，提出了一种基于3UPR并联机构的4足机器人，并对其运动性能进行分析. 运用螺旋理论对该机构进行自由度分析，通过位置反解模型对机器人腿部机构进行运动学分析，得到驱动进给量和驱动速度. 通过ADAMS仿真与理论计算结果的数据对比，验证模型建立的正确性. 通过求解速度雅克比矩阵对机构进行奇异性分析. 根据单腿的运动轨迹，对机器人进行对角步态规划. 结果表明该机构具有X、Z方向转动和Y方向移动的3个自由度. 该机构不存在奇异位置，且具有良好的运动性能. 步态仿真结果表明，机器人可以在平地上实现平稳运动，前进速度达到135 mm/s. 

Kinematics Analysis and Gait Planning of the Quadruped Robot Leg Mechanism

In order to improve the carrying capacity and operation stability of the foot robot, a quadruped robot based on 3UPR parallel mechanism was proposed and its motion performance was analyzed. Analyzing the degree of freedom of the robot structure based on the spiral theory, and performing kinematics analysis for the robot leg mechanism based on a position reversal model, the drive feed amount and drive speed were obtained. Comparing the data of ADAMS simulation with theoretical calculation results, the correctness of the model was verified. The singularity was analyzed based on the velocity Jacobian matrix, and the diagonal gait planning on the robot was carried out according to the trajectory of the single leg. The results show that, the mechanism possesses three degrees of freedom, including the rotation in the X and Z directions and the movement in the Y direction. There is no any singular positions in the mechanism movement, showing better motion performance. The gait simulation results show that the robot can achieve smooth motion on the flat ground with a forward speed of 135 mm/s.