圆周对称分布六腿机器人三种典型行走步态步长及稳定性分析

针对现有圆周对称分布六腿步行机器人步长研究中存在的缺点和不足,提出了并联机构支链工作空间相交法,将由机器人本体、支撑腿和地面组成的并联机构分割成不同的分支,利用各分支工作空间求交,从而确定机器人在某一本体高度上的步长和稳定裕度.该方法可在已知机器人立足点和本体高度的情况下求得机器人的最大可行步长和稳定裕度,也可以求得机器人在某一本体高度上的极限可行步长和在这种情况下的立足点的位置,还可以根据已知步长和机器人本体高度来确定最大稳定裕度和最大稳定裕度下的立足点的位置.这种方法为圆周对称分布六腿机器人采用不同步态行走过程中立足点、本体高度和步长的选取提供重要参考.

Stride Size and Stability Analysis of a Radially Symmetrical Hexapod Robot in Three Typical Gaits

For the shortcomings and the insufficiencies in study of stride size of radially symmetrical hexapod robots,a workspace intersection method for parallel mechanism is proposed.In the method,the parallel mechanism composed of robot body,supporting legs and ground is divided into different branches,and according to the intersections of the workspaces of all the branches,and the stride size and stability margin of the robot can be deduced at any body height.By using this method, the maximum feasible stride size and stability margin can be obtained when the body height and the footholds are known. And its extreme stride size and the corresponding footholds at a certain body height can be solved.Meanwhile,the maximum stability margin and the corresponding suitable footholds can be determined while the stride size and body height are certain. This method provides a good reference for the radially symmetrical hexapod robot to choose suitable footholds,body height and stride size while walking in different gaits.