一种腿臂融合四足机器人设计与分析

doi:10.13700/j.bh.1001-5965.2016.0810

北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (10): 2099-2108.doi: 10.13700/j.bh.1001-5965.2016.0810

一种腿臂融合四足机器人设计与分析

王思远¹, 唐玲², 王耀兵², 陈佳伟¹, 徐坤¹, 丁希仑¹

1. 北京航空航天大学机械工程及自动化学院, 北京 100083;
2. 北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室, 北京 100094

收稿日期:2016-10-18 修回日期:2016-12-02 出版日期:2017-10-20 发布日期:2017-01-13
通讯作者: 徐坤 E-mail:xk007@buaa.edu.cn
作者简介:王思远,男,硕士研究生。主要研究方向:四足机器人;徐坤,男,博士,讲师。主要研究方向:足式机器人。
基金资助:
国家自然科学基金（51305009）；机器人技术与系统国家重点实验室开放研究基金； CAST创新基金

Design and analysis of an integrated leg-arm quadruped robot

WANG Siyuan¹, TANG Ling², WANG Yaobing², CHEN Jiawei¹, XU Kun¹, DING Xilun¹

1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
2. Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, China

Received:2016-10-18 Revised:2016-12-02 Online:2017-10-20 Published:2017-01-13

摘要/Abstract

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。

关键词: 腿臂融合, 四足机器人, 运动学模型, 5自由度操作臂, 串并混联

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.

Key words: integrated leg-arm, quadruped robot, kinematic model, 5-DOF operating arm, hybrid serial-parallel mechanism

中图分类号:

TP242.6

王思远, 唐玲, 王耀兵, 陈佳伟, 徐坤, 丁希仑. 一种腿臂融合四足机器人设计与分析[J]. 北京航空航天大学学报, 2017, 43(10): 2099-2108.

WANG Siyuan, TANG Ling, WANG Yaobing, CHEN Jiawei, XU Kun, DING Xilun. Design and analysis of an integrated leg-arm quadruped robot[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2017, 43(10): 2099-2108.

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一种腿臂融合四足机器人设计与分析

Design and analysis of an integrated leg-arm quadruped robot

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