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设计了一种具有良好稳定性和越障能力的少驱动六足机器人。对少驱动六足机器人的整体结构以及行走步态进行了分析,在此基础上建立了机器人足端点轨迹方程,得到了机器人行走和越障时足端点的运动要求。以六足机器人运动平稳性为目标函数,综合考虑杆长条件、传动性能、几何结构、越障条件和边界条件五类约束,建立了机器人足端轨迹优化模型。利用MATLAB优化工具箱的约束非线性函数fmincon对影响少驱动六足机器人足端轨迹曲线的参数进行优化,得到了满足运动特性要求的机器人腿部机构尺寸。通过对优化后得到的足端轨迹的分析,证明了少驱动六足机器人腿部机构的合理性,为后续六足机器人的研究与开发奠定了基础。
A less driven hexapod robot with good stability and obstacle clearance was designed. The overall structure and walking gait of the less-driven hexapod robot are analyzed. Based on this, the trajectory equation of the robot foot-end point is established, and the movement requirements of the end-point of the robot when walking and obstacle crossing are obtained. Taking the motion stability of the hexapods as the objective function, the robot foot trajectory optimization model is established considering the constraints of the rod length, transmission performance, geometry, obstacle clearance and boundary conditions. The constrained nonlinear function fmincon of MATLAB optimization toolbox was used to optimize the parameters that affect the trajectory of footsteps of the less-driven hexapod robot, and the robot leg mechanism size that satisfied the motion characteristics was obtained. Through the analysis of the foot track obtained by optimization, the rationality of the leg mechanism with less driving six-legged robot is proved, which lays the foundation for the research and development of the following six-legged robot.