凸轮连杆组合机构驱动的四足仿生马机器人运动仿真研究
Research on Motion Simulation of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism
- 机械传动 2020年44卷第9期 页码：27-33
- 作者机构：
1.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：
王良文（1963— ），男，湖北荆州人，教授，博士，博士生导师，研究方向为机器人机构设计及动力学分析与综合。
- 基金信息：河南省重点科技攻关项目(202102210086);2021年度河南省高等学校重点科研项目(21A460034);郑州轻工业大学博士基金项目(2016BSJJ009)
DOI：10.16578/j.issn.1004.2539.2020.09.005
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王良文,张薇薇,李立伟等.凸轮连杆组合机构驱动的四足仿生马机器人运动仿真研究[J].机械传动,2020,44(09):27-33.
Wang Liangwen,Zhang Weiwei,Li Liwei,et al.Research on Motion Simulation of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism[J].Journal of Mechanical Transmission,2020,44(09):27-33.
王良文,张薇薇,李立伟等.凸轮连杆组合机构驱动的四足仿生马机器人运动仿真研究[J].机械传动,2020,44(09):27-33. DOI： 10.16578/j.issn.1004.2539.2020.09.005.
Wang Liangwen,Zhang Weiwei,Li Liwei,et al.Research on Motion Simulation of a Quadruped Bionic Horse Robot Driven by a Cam-link Mechanism[J].Journal of Mechanical Transmission,2020,44(09):27-33. DOI： 10.16578/j.issn.1004.2539.2020.09.005.
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，具有两个驱动自由度，能够实现足端轨迹跨距与高度的调整。论述了凸轮连杆组合机构驱动的仿生马机器人结构与工作原理，开展了机器人的运动仿真研究。利用SolidWorks软件建立机器人模型，并导入到Adams软件中进行动力学仿真分析。通过运动规划给定电机驱动函数，实现了仿生马机器人的行走运动。进一步分析得到了机器人在抬腿和落地运动过程中，足端与地面之间的接触力变化规律及相应的运动轨迹变化趋势。针对仿生马机器人运动仿真中整体出现的跳动现象，提出了采用电机变驱动规律以改良跳动的措施。研究结果为该类机器人参数的优化设计及实用化提供了理论支持。
Abstract
A quadruped walking robot with a bionic horse configuration for equestrian-assisted treatment is presented. A single leg system of the robot with two driving degrees of freedom （DOFs） is driven by a cam-linkage combination mechanism， and it can adjust the span and height of the leg end-point trajectory. On the basis of introducing the structure and working principle of the quadruped bionic horse robot driven by a cam-linkage combination mechanism， the movement simulation of the robot is carried out. Using SolidWorks software to establish the bionic horse robot model and import it into Adams software for dynamics simulation. By motion planning to set a motor driving function， the walking movement of the bionic horse robot is realized. From the further analysis， the change law of the contact forces between the foot end and the ground， and the corresponding trend of the motion trajectory are obtained in the process of the leg lift and landing. Aiming at body jumping phenomenon occurring in the simulation movement of the bionic horse robot， a measures of variable driving laws for the motor are put forward to improve the body jumping. The relevant research provides theoretical support for optimization design and application 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仿真变驱动规律
Keywords
Quadruped robotBionic horse configurationCam-link combination mechanismMotion simulationVariable driving law
references
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