Mechanism Design and Simulation Analysis of Obstacle Surmounting Multi-leg Robot

Jun Liu; Chengmin Wang; Feng Wang

doi:10.16578/j.issn.1004.2539.2021.10.013

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Mechanism Design and Simulation Analysis of Obstacle Surmounting Multi-leg Robot

Design· Calculation | 更新时间：2022-11-10

- Mechanism Design and Simulation Analysis of Obstacle Surmounting Multi-leg Robot
- Journal of Mechanical Transmission Vol. 45, Issue 10, Pages: 85-90(2021)
- 作者机构：
  
  1.江苏电子信息职业学院数字装备学院，江苏淮安 223003
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.10.013
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刘俊,王程民,王峰.可越障多足机器人机构设计与仿真分析[J].机械传动,2021,45(10):85-90.

Liu Jun,Wang Chengmin,Wang Feng.Mechanism Design and Simulation Analysis of Obstacle Surmounting Multi-leg Robot[J].Journal of Mechanical Transmission,2021,45(10):85-90.
刘俊,王程民,王峰.可越障多足机器人机构设计与仿真分析[J].机械传动,2021,45(10):85-90. DOI： 10.16578/j.issn.1004.2539.2021.10.013.

Liu Jun,Wang Chengmin,Wang Feng.Mechanism Design and Simulation Analysis of Obstacle Surmounting Multi-leg Robot[J].Journal of Mechanical Transmission,2021,45(10):85-90. DOI： 10.16578/j.issn.1004.2539.2021.10.013.

摘要

设计了一种可越障多足机器人，该机器人具有移动速度快，越障能力强等特点。腿部机构设计是影响多足机器人运动特性的重要因素之一，采用曲柄摇块机构原理设计了一种新型的多足机器人腿部机构。为了保证机器人移动过程中重心不发生变化，运用Matlab软件对踏片的踏面曲线进行设计，并分析了腿部机构不同尺寸参数对踏面曲线、单个踏片与地面接触点水平方向运动速度和加速度的影响规律。同时，设计了多足机器人的辅助爬升机构，并分析了多足机器人翻越障碍物的工作流程。最后，通过虚拟样机运动仿真以及实物样机试验验证了可越障多足机器人机构设计的可行性。

Abstract

A kind of obstacle surmounting multi-leg robot is designed，the robot has the characteristics of fast moving speed and strong obstacle surmounting. Leg mechanism design is one of the important factors that affect the motion characteristics of multi-leg robot. A new kind of leg mechanism of multi-leg robot is designed based on crank rocker principle. In order to ensure that the center of gravity does not change in the process of robot moving，the tread curve of tread is designed by Matlab software，and the influence rules of different size parameters of leg mechanism on tread curve，horizontal velocity and acceleration of the contact point of single tread and ground are analyzed. At the same，the auxiliary climbing mechanism of the multi-leg robot is designed，and the work flow of the multi-leg robot climbing over obstacles is analyzed. Finally，the feasibility of the mechanism design of obstacle surmounting multi-leg robot is verified by virtual prototype motion simulation and physical prototype test.

关键词

多足机器人腿部机构曲柄摇块运动分析越障

Keywords

Multi-leg robotLeg mechanismCrank rockerKinematic analysisObstacle surmounting

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