摘要
自然界攀爬生物的运动机理对于仿生机器人结构设计和运动规划具有重要的借鉴意义,获得爬壁生物的运动技巧,有助于提高仿生爬壁机器人的运动性能。文中首先对攀爬类机器人的仿生原型大壁虎的体态特征和运动形态进行剖析,提取运动学和力学模型,然后对大壁虎腰关节在运动过程中的力学作用进行理论分析。模型的理论分析结果表明采用匍匐姿态攀爬的四足生物在前进过程中,当腰关节位置接近于对角支撑足连线确定的奇异线时,支撑足足端力会迅速变大,导致整个运动过程能量消耗增加。壁虎等爬壁生物在运动过程中可通过腰关节摆动来改善攀爬过程的驱动力,从而降低运动能耗。文中还通过MATLAB仿真验证了上述结论。该研究成果可为仿生爬壁机器人的设计和步态规划提供理论支撑。
The movement of the climbing creatures in nature has important referentialsignificance for the structural design and gait planning of the bionic robot. Obtaining the movement skill of the climbing creature helps to improve the kinematic performance of bionic climbing robot. In this paper, the morphology and kinesiology of giant gecko are analyzed, and then, the dynamic models are extracted and the effect of the gecko’s waist joints during its movement is deduced. The theoretical analysis of the dynamic model shows that the support force of quadrupeds climbing in a crawling pose will rapidly increase when the waist approach to the singular line determined by the diagonal support foot, resulting in exercise energy consumption increase.Gecko and other climbing creatures swing the waist to reduce the driving force during climbing process, thereby reducing energy consumption. This paper also verified our conclusion using MATLAB simulation platform. The results of our research could provide theoretical support for the design and gait planning of bionic climbing robots.
出处
《机械设计》
CSCD
北大核心
2018年第S1期98-101,共4页
Journal of Machine Design
基金
国家自然科学基金资助面上项目--仿生爬壁滑翔机器人的构型
步态及滑翔控制方法研究(51475018)
关键词
步态规划
动力学
奇异线
腰关节
gait planning
dynamics
singularity path
waist joint
