仿猎豹四足机器人结构设计与分析

为满足四足机器人高速奔跑运动性能所要求的脊椎具有柔性和腿结构具有良好的缓冲性能要求，在仿猎豹四足机器人上设计了一种液压驱动的柔性脊椎和腿结构.该脊椎是变截面梁，中间有柔性.该腿结构有髋关节和膝关节，有3个自由度，髋关节有2个主动自由度，即侧摆自由度和俯仰自由度，膝关节具有被动的俯仰自由度.对该脊椎进行了力学分析，对该腿结构进行了刚度特性分析和运动学分析，并对机器人进行了Bound步态仿真.仿真结果表明，这种具有柔性脊椎和非线性刚度变化的腿结构的仿猎豹四足机器人，能够以Bound步态实现较快的稳定奔跑，且足端接触力较小，由此验证了柔性仿猎豹四足机器人脊椎和腿结构的设计是有效的. 

Design and Analysis on the Structure of Imitating Cheetah Quadruped Robot

In order to meet the requirements of high speed running, the flexible spine and the leg structure with high cushion performance for quadruped robot, a flexible spine and hydraulic driving hind limb structure were designed for the running quadruped robot based on hydraulic pressure technology. The spine was designed with variable cross section beam to form flexible in the middle. The leg structure was designed with hip joint and knee joint, 3 DOFs. The hip joint was designed with two active DOFs, roll-DOF and pitching-DOF; the knee joint was only with passive pitching-DOF. The mechanical performance of flexible spine was analyzed. Stiffness characteristics and kinematics of the leg structure were analyzed. And the bound gait of robot was simulated. The simulation results show that, the quadruped robot with the flexible spine and the leg structure with nonlinear stiffness can run stably with higher speed in Bound gait, and the foot contact force is low, verifying the feasibility of the designed spine and the leg structure.