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摘要:
设计了一种腿臂融合的四足机器人，其具有腿臂功能复用的分支，不仅可以实现行走，还可以进行操作。对该机器人的行走模式和操作模式进行了研究，首先，建立了机器人单腿运动学模型，推导出机身整体的逆运动学；其次，对腿臂功能复用分支的5自由度操作臂模型进行了运动学分析，提出了欠自由度操作臂保证末端位置和末端姿态2种情况下的逆运动学最优求解方法，并分别给出了位置或姿态偏差；然后，建立了支撑面、支撑腿、本体、操作臂所组成的串并混联机构的运动学模型，利用本体位移补偿操作臂末端位置偏差，从而实现操作臂末端精确操作；最后，对机器人本体、操作臂以及串并混联机构的工作空间进行了仿真，并利用实验验证了该机器人腿行走和臂操作的功能。
Abstract:An integrated leg-arm quadruped robot with a function multiplexing limb is presented in this paper, and it can realize both walking and operating. The walking mode and the operating mode of the robot are studied. First, a positive kinematic model of a single leg is established and inverse kinematics of the robot is derived. Then the forward kinematic model of the 5-DOF function multiplexing limb is built, based on which an optimal inverse kinematics method either to satisfy position or gesture for insufficient DOF operation arm is offered. And position deviation and gesture deviation corresponding to each situation are given. The kinematic model of a hybrid serial-parallel mechanism composed of supporting ground, standing legs, body and operating arm is established. The body displacement can compensate the position deviation of the tip of manipulator to ensure the accuracy of manipulation. Finally, the workspace of body, operating arm and hybrid serial-parallel mechanism is simulated. The functions of walking and operating of the robot are verified experimentally.
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图 9 本体固定时操作臂XOY平面的工作空间
Figure 9. Workspace of operating arm in XOY plane with body fixed
图 13 本体可移动时操作臂XOY平面的工作空间
Figure 13. Workspace of operating arm in XOY plane with body mobile
表 1 腿臂融合四足机器人主要参数
Table 1. Basic parameters for integrated leg-arm quadruped robot
参数 数值 l1 /mm 48 l2/mm 190 l3/mm 166 l4/mm 110 l5/mm 65 θ1/(°) (-135, 135) θ2/(°) (-100, 100) θ3/(°) (-170, 170) θ4/(°) (-60, -180) θ5/(°) (-170, 170) 
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