摘要
随着自然灾害的频发,救援人员的伤亡人数也在增加,机器人代替人完成救援工作成为研究热点。根据对国际相关领域研究成果的分析,设计了一款稳定性高,环境适应能力强的仿生四足机器狗。全身支架采用铝合金打造,腿部采用碳纤维打造,搭配大扭矩电机,结合六自由度机械臂,实现不同地形环境下的前进方式转换。基于前肘后膝式的腿型设计并结合ADAMS仿真,实现稳定行走。结合气体检测和图像识别模块,实现救灾现场的环境勘探和搜救任务。基于稳定裕度最优化的原则,采用对角步态的行走步态控制方式。公布了8自由度前肘后膝X腿型式四足机器狗机械设计及其步态控制方案。
A bionic four-legged robotic dog with high stability and strong environmental adaptability is designed in this paper.The whole body and four legs of the robot are made of respectively aluminum alloy and carbon fiber,equipped with a large torque motor and combined with the six-degree-of-freedom mechanical arm to achieve the forward mode conversion in different terrain environments.Based on the elbow-knee legs of the robot and combined with ADAMS simulation,stable walking is achieved.Combined with gas detection and image recognition modules,it enables environmental exploration and search and rescue missions at the site of the disaster.Based on the principle of stability margin optimization,the gait control method of diagonal gait is adopted in this paper.The mechanical design of the 8-degree-of-freedom and the elbow-knee robotic dog and its gait control scheme were announced.
出处
《工业控制计算机》
2020年第1期75-76,78,共3页
Industrial Control Computer
基金
教育部中国民航大学国家级大学生创新创业训练项目,项目名称:适应复杂地形的救援补给仿生机器狗(201910059032)
