摘要
针对传统轮式机器人的越障局限性,提出一种单自由度复合连杆式的轮腿复合式机器人腿部结构。建立了机器人腿部结构运动学模型,通过矢量法求解机构运动学正解。基于预设步高和步长,建立导数连续无突变且轨迹平滑的椭圆曲线为足端理想轨迹。通过足端实际轨迹若干离散点构造拟合椭圆,以椭圆形状和位姿为优化目标建立优化函数,采用粒子群算法对优化函数进行优化求解,得到腿部机构的最优尺寸参数。利用优化后参数,采用Matlab软件进行足端轨迹仿真和Adams软件进行足端速度与加速度仿真,并搭建样机实验平台进行试验,结果表明,优化后的腿部机构能够实现预期设计的足端轨迹并具有良好的动力学性能。
Aiming at the obstacle surmounting limitations of traditional wheeled robots,a single degree of freedom composite link leg structure of wheeled legged hybrid robot is proposed in it.The kinematics model of robot leg structure is established,and the for-ward kinematics solution of the mechanism is solved by vector method.Based on the preset step height and step size,an elliptic curve with continuous derivative,no mutation and smooth trajectory is established as the ideal trajectory of the foot end.The fitting ellipse is constructed through several discrete points of the actual trajectory of the foot end,the optimization function is established with the shape and pose of the ellipse as the optimization objective,and the particle swarm optimization algorithm is used to optimize the opti-mization function to obtain the optimal size parameters of the leg mechanism.Using the optimized parameters,the foot trajectory is simulated by Matlab software and the foot velocity and acceleration are simulated by Adams software,and the prototype experimen-tal platform is built for test.The results show that the optimized leg mechanism can achieve the expected foot trajectory and has good dynamic performance.
作者
王成博
高建设
常振
王高峰
WANG Chengbo;GAO Jianshe;CHANG Zhen;WANG Gaofeng(School of Mechanical and Power Engineering,Zhengzhou University,He’nan Zhengzhou 450001,China)
出处
《机械设计与制造》
北大核心
2025年第11期14-18,共5页
Machinery Design & Manufacture
基金
河南省高等学校重点科研项目(19A460008)
国家自然科学基金资助项目(U1304510)。
