| 康特， 王兴东， 孙伟， 龚彩云.可调足式机器人腿部机构设计[J].轻工机械,2023,41(5):13-21 |
| 可调足式机器人腿部机构设计 |
| Design of Adjustable Foot Robot Leg Mechanism |
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| DOI：10.3969/j.issn.1005 2895.2023.05.003 |
| 中文关键词: 足式机器人 可调腿部机构 足端轨迹 多目标优化 速度波动 |
| 英文关键词:foot robot adjustable leg mechanism foot trajectory multi objective optimization velocity fluctuation |
| 基金项目:国家自然科学基金项目（51875418） |
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| 摘要点击次数: 97 |
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| 中文摘要: |
| 为实现腿部机构足端轨迹多样化以增强足式机器人地面适应性，同时提高其运动稳定性，课题组基于曲柄摇杆和曲柄滑块机构设计了一种可调整足式机器人腿部机构。采用解析法对该机构进行了运动学分析，建立了以理想的足端轨迹为设计要求的单目标优化模型，考虑了腿部机构运动过程中的平稳性，引入了速度波动指标，以轨迹 速度为设计目标，采用NSGA Ⅱ多目标优化方法对机构进行优化，对优化结果进行了对比分析；基于多目标优化结果建立了腿部机构的足端轨迹库，并进行腿部机构多步态分析；以该腿部机构构建4足机器人三维模型，运用ADAMS对整机进行运动仿真。研究结果表明：多目标优化比单目标优化的轨迹误差增大了0.16%，而速度波动降低了5.84%；多目标优化与已有相关研究相比，速度波动幅值降低了25.44 mm/s。4足机器人三维模型仿真结果验证了可调整腿部机构的设计具有可行性。 |
| 英文摘要: |
| In order to realize the diversification of the foot end trajectory of the leg mechanism to enhance the ground adaptability of the foot robot as well as to improve its motion stability, an adjustable foot robot leg mechanism was designed based on crank rocker and crank slider mechanism. The kinematics of the mechanism was analyzed by analytical method, and a single objective optimization model was established with the ideal foot end trajectory as the design requirement. The stability of the leg mechanism in the process of motion was considered, and the speed fluctuation index was introduced. The mechanism was optimized by NSGA Ⅱ multi objective optimization method, and the optimization results were compared and analyzed. Based on the results of multi objective optimization, the foot end trajectory library of the leg mechanism was established, and the multi gait analysis of the leg mechanism was carried out. The three dimensional model of the quadruped robot was constructed with the leg mechanism, and the motion simulation of the whole machine was carried out by ADAMS. The results show that the trajectory error of multi objective optimization is increased by 0.16%, while the velocity fluctuation is reduced by 5.84% lower. In addition, compared with existing relevant studies, the amplitude of velocity fluctuation is reduced by 25.44 mm/s. The simulation results of 3D model simulation of quadruped robot verify the feasibility of the design of adjustable leg mechanism. |
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