液压四足机器人新型腿结构设计与性能分析

为实现机器人的高负载、不平地面的高适应性运动要求,设计了一种新型的液压四足机器人腿结构。提出了腿模块机构,是带有平行四边形结构的四连杆腿模块机构,与传统的曲柄滑块四连杆机构进行了运动分析比较。基于MATLAB的SimMechanics软件模块,进行了仿真分析。结果表明带有平行四边形结构的四连杆腿模块机构具有较好的传动性能,该种腿结构的液压缸运动更为平稳,可确保机器人整体性能的优越性,为液压驱动的足式机器人腿结构设计提供新的设计途径。

New Leg Module of Hydraulic Quadruped Robot Structure Design and Performance Analysis

To achieve the robot of high load and uneven ground high adaptability motion demand, design a new leg structure of hydraulic driving quadruped robot. It puts forward the leg module mechanism, which is the four connecting rod leg module mechanism with a parallelogram structure, and compare the traditional slider-crank four bar linkage in motion performance. Based on the MATLAB software of SimMechanics module, a simulation analysis is carried out. The results show that the four connecting rod leg module mechanism that with a parallelogram structure have good transmission performance, and the legs structure of hydraulic cylinder movement more smoothly, and ensure the overall performance of the robot. It provides a new way for hydraulic driving quadruped robot of leg structure design.