东北大学学报（自然科学版）

东北大学学报:自然科学版 ›› 2016, Vol. 37 ›› Issue (9): 1305-1310.DOI: 10.12068/j.issn.1005-3026.2016.09.019

• 机械工程 • 上一篇    下一篇

奔跑四足机器人腿结构设计与分析

马宗利， 刘永超， 朱彦防， 王建明   

  1. (山东大学 高效洁净机械制造教育部重点实验室， 山东 济南250061)
  • 收稿日期:2015-05-11 修回日期:2015-05-11 出版日期:2016-09-15 发布日期:2016-09-18
  • 通讯作者: 马宗利
  • 作者简介:马宗利(1967-)，男，山东青岛人，山东大学副教授； 王建明(1962-)，男，山东济南人，山东大学教授.
  • 基金资助:
    国家自然科学基金资助项目(51375267).

Design and Analysis of Running Quadruped Robots’ Leg Structure

MA Zong-li， LIU Yong-chao， ZHU Yan-fang， WANG Jian-ming   

  1. Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of Ministry of Education， Shandong University， Jinan 250061， China.
  • Received:2015-05-11 Revised:2015-05-11 Online:2016-09-15 Published:2016-09-18
  • Contact: WANG Jian-ming
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摘要： 针对四足机器人奔跑运动对腿结构高缓冲性能的要求，基于动物狗前腿的骨骼-肌肉生物力学特性，设计了一种奔跑四足机器人的腿结构.该腿结构有3个关节，具有3个自由度，髋关节、膝关节具有主动的俯仰自由度，踝关节具有被动的俯仰自由度.对该腿结构进行了动力学分析和刚度特性分析，并对机器人进行了bound步态的仿真.仿真结果表明，该腿结构能够实现四足机器人快速、稳定地奔跑，关节驱动力矩较小，验证了该腿结构实现四足机器人bound步态奔跑的可行性和合理性.

关键词: 四足机器人, 奔跑, 腿结构, 动力学分析, 仿真

Abstract: In order to meet the requirements of quadruped robots’ leg structure with high cushion performance in running movements， a leg structure of running quadruped robots was designed， which was based on the bone-muscle biomechanical properties of dog forelegs. The leg structure has three joints and three DOFs. The hip joint and knee joint have active pitching-DOF， and the ankle joint has passive pitching-DOF. The dynamics and stiffness characteristics of the leg structure were analyzed， and the simulation of bound gait was done. The simulation results showed that a quadruped robot with this leg structure can run rapidly and stably while the joint drive torque is low. It was proven that this leg structure has the feasibility and rationality of making quadruped robots run in bound gait.

Key words: quadruped robot, running, leg structure, dynamics analysis, simulation

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