东北大学学报:自然科学版 ›› 2016, Vol. 37 ›› Issue (4): 543-548.DOI: 10.12068/j.issn.1005-3026.2016.04.019

• 机械工程 • 上一篇    下一篇

四足机器人新型节能腿的设计与分析

马宗利, 朱彦防, 刘永超, 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:2014-08-27 修回日期:2014-08-27 出版日期:2016-04-15 发布日期:2016-04-05
  • 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 New Energy-Efficient Legs for Quadruped Robots

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

  1. Key Laboratory of High-Efficiency and Clean Mechanical Manufacture
  • Received:2014-08-27 Revised:2014-08-27 Online:2016-04-15 Published:2016-04-05
  • Contact: WANG Jian-ming
  • About author:-
  • Supported by:
    -

摘要: 分析了生物狗后腿的结构特点,提出了一种大腿和小腿呈一体化的柔性节能腿结构,只需在髋关节处施加驱动即可实现四足机器人小跑(trot)步态.对提出的模型进行了动力学分析并通过ADAMS仿真平台进行了仿真.仿真结果表明,此种结构的四足机器人可以实现稳定快速的trot步态,相对于普通髋关节和膝关节同时驱动的四足机器人,该模型的髋关节驱动力矩和驱动功率明显减小,足端接触力明显降低,能耗降低明显,缓冲性能好,证明了四足机器人新型腿结构设计的合理性.

关键词: 四足机器人, 仿生, 节能腿, 动力学分析, 仿真

Abstract: The physiological characteristics of dog hind leg were analyzed, a flexible leg structure made of thigh and shank for integrative structure was presented. Only exerting drive in hip joint,the quadruped robot can realize trot gait. The model was analyzed dynamically and simulated by the ADAMS. The results showed that the quadruped robot with this structure can move stably and rapidly in trot gait. Compared with other quadruped robots which need drive in hip and knee joint simultaneously, we can reduce the drive torque and drive power of hip joint, foot contact force, and energy consumption. The cushioning property of this model is excellent. This leg structure of the quadruped robot is shown to be reasonable.

Key words: quadruped robot, bio-inspired, energy-efficient leg, dynamics analysis, simulation

中图分类号: