摘要
为提高传统仿生腿式机器人的适应性并简化控制系统,提出了一种基于张拉整体结构的仿生腿式机器人。根据人体腿部的生理结构和运动机理,建立腿部的Snelson X形张拉整体结构等效模型,并通过结构稳定性分析和运动学分析给出了结构刚度匹配方法。通过将旋转和平移运动分离来实现膝关节旋转中心的移动,利用平面四杆机构的死点实现机器人站立时膝关节的锁定;然后通过曲柄滑块机构和位移放大机构实现联动解锁,从而实现人腿行走过程中膝关节的刚-柔转换。最后通过单个电机驱动仿生腿式机器人进行物理样机测试,验证所提结构的有效性和实用性。
To improve the adaptability of the traditional bionic legged robots and simplify the control system,a bionic legged robot based on the tensegrity structure is proposed.According to the physiological structure and movement mechanism of the human leg,the equivalent model of the Snelson X-shaped tensegrity structure of the leg is established,and the structural stiffness matching method is given through structural stability and kinematics analyses.The movement of the rotation center of knee joint is achieved by separating the rotation and translation motion,and the dead point of the planar four-bar mechanism is used to lock the knee joint when the robot is standing.The linkage unlocking is achieved through the crank slider mechanism and the displacement amplification mechanism,thereby realizing the rigid-flexible conversion of the knee joint during the walking process of the human leg.Finally,a physical prototype of the single motor driven bionic legged robot is tested to verify the effectiveness and practicability of the proposed structure.
作者
孙建伟
李维佳
褚金奎
SUN Jianwei;LI Weijia;CHU Jinkui(School of Mechanical Engineering,Changchun University of Technology,Changchun 130012,China;Key Laboratory of Engineering Bionics of Ministry of Education,Jilin University,Changchun 130022,China;School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)
出处
《机器人》
EI
CSCD
北大核心
2023年第3期302-312,共11页
Robot
基金
国家自然科学基金(52275006,51875047)
吉林省中青年科技创新创业卓越人才(团队)项目(20220508140RC)。
