Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism

Xu Yang; Ruolan Wang; Liangwen Wang; Liwei Li; Tuanhui Wang

doi:10.16578/j.issn.1004.2539.2021.01.013

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Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism

Design· Calculation | 更新时间：2022-11-10

- Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 1, Pages: 77-84(2021)
- 作者机构：
  
  1.黄河科技学院职业技术学院，河南郑州 450005
  2.郑州轻工业大学国际教育学院，河南郑州 450002
  3.郑州轻工业大学机电工程学院河南省机械装备智能制造重点实验室，河南郑州 450002
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.01.013
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杨许,王若澜,王良文等.凸轮连杆组合机构驱动的四足仿生马机器人运动学建模与分析[J].机械传动,2021,45(01):77-84.

Yang Xu,Wang Ruolan,Wang Liangwen,et al.Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism[J].Journal of Mechanical Transmission,2021,45(01):77-84.
杨许,王若澜,王良文等.凸轮连杆组合机构驱动的四足仿生马机器人运动学建模与分析[J].机械传动,2021,45(01):77-84. DOI： 10.16578/j.issn.1004.2539.2021.01.013.

Yang Xu,Wang Ruolan,Wang Liangwen,et al.Kinematics Modeling and Analysis of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism[J].Journal of Mechanical Transmission,2021,45(01):77-84. DOI： 10.16578/j.issn.1004.2539.2021.01.013.

摘要

提出了一种仿生马构型的四足步行机器人，以用于马术辅助治疗。其单腿系统利用凸轮连杆组合机构驱动。在论述该仿生马机器人结构与工作原理的基础上，进行了机器人的运动学建模与分析。利用环路矢量法建立各机构运动学方程，利用牛顿迭代法对非线性位移方程进行了求解。采用Matlab开发了求解机器人行走腿位移、速度、加速度运动的统一程序。通过实例计算，对采用电机等速驱动机器人产生的行走腿端点位移、加速度特性进行了分析。为后续优化机器人性能奠定了基础。

Abstract

A quadruped walking robot with a bionic horse configuration for equestrian-assisted treatment is presented. A single leg system of the robot is driven by a cam-linkage combination mechanism. On the basis of introducing the structure and working principle of the quadruped bionic horse robot， the kinematics modeling and analysis of the robot are carried out. The kinematics equations of each mechanism are established by loop vector method， and Newton iteration method is used to solve the nonlinear displacement equations. The Matlab is used to develop a unified program to solve the displacement， velocity and acceleration of the moving leg of the robot. By an example， the characteristics of the endpoint displacement and acceleration of the moving leg for the robot driven at the same speed are analyzed. The relevant research lays a foundation for the subsequent optimizing the performance of the robot.

关键词

步行机器人仿生马构型凸轮连杆组合机构运动学建模分析

Keywords

Quadruped robotBionic horse configurationCam-link combination mechanismKinematics modelingAnalysis

references

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王良文，肖艳秋，杜文辽，等.凸轮连杆组合机构驱动的步行机器人：CN106809294A［P］：2017-06-09.

WANG Liangwen，XIAO Yanqiu，DU Wenliao，et al.The walking robot driven by cam-link combination mechanism：CN106809294A［P］.2017-06-09.

WANG L W，ZHANG W W，WANG C D，et al.Conceptual design and computational modeling analysis of a single-leg system of a quadruped bionic horse robot driven by a cam-linkage mechanism［J］.Applied Bionics and Biomechanics，2019（1）：1-13.

柳冬玉，潘亚嘉.非线性方程组求解器及平面连杆机构仿真程序研究［J］.机械研究与应用，2018，31（1）：141-145.

LIU Dongyu，PAN Yajia.Research on the planar linkage mechanism simulation program base on the general non-linear equations solver［J］.Mechanical Research and Application，2018，31（1）：141-145.

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