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为了利用机体变化与腿结构运动的协调,提升仿生机器人的跳越及越障能力,介绍了一种具有脊柱的新型四足仿生机器人构型。对该类机器人的正运动学问题进行了详细研究。根据机器人结构的约束,建立了包含所有驱动角度的运动方程组。针对运动方程组中包含冗余驱动角度,而求解冗余驱动角度十分困难的问题,采用了一种降维解法。该降维解法通过将运动方程组的一个方程转为约束方程,对运动方程组的其余方程采用迭代运算以求满足约束的解,可以有效地求出冗余驱动角。在此基础上,对具有脊柱的新型四足仿生机器人的质心位姿进行求解分析。相关算例的验证说明,此项研究有利于加快该类机器人的实用进程。
In order to make use of the coordination between body changes and leg structure movement and to enhance the jumping ability and obstacle clearance ability of bionic robot, a new quadruped bionic robot with spine is introduced. The kinematics of such robots is studied in detail. According to the constraints of the robot structure, a system of equations of motion that includes all driving angles is established. Aiming at the problem that the motion equations contain redundant drive angles and it is very difficult to solve the redundant drive angle, a dimension reduction solution is adopted. The dimensionality reduction method transforms one equation of the equation of motion into a constraint equation, and iteratively calculates the rest of equation of motion equations in order to satisfy the solution of the constraint, so as to obtain the redundant driving angle effectively. Based on this, the centroid pose of a novel quadruped bionic robot with spine is solved and analyzed. Verification of the relevant examples shows that this study is conducive to accelerating the practical process of such robots.