基于机体翻转的四足机器人翻越台阶过程的运动学分析

为了提高四足机器人的越障能力,提出一种基于机体翻转的台阶翻越方法。在台阶翻越过程中,可以将四足机器人等效为平面连杆机构。对一个完整的翻越过程进行了运动规划,将其划分为5个阶段;然后分别对每个阶段进行了运动学建模与仿真分析,得到机器人各关节角位移的变化曲线以及机体重心的位移曲线。最后讨论了机器人台阶翻越能力与几何参数之间的关系,分析结果表明,采用该方法研制的四足机器人具有较强的台阶翻越能力。从运动学角度验证了四足机器人翻转式翻越台阶的可行性,对足式机器人的越障方式进行了有益的探索,为进一步的研究提供了理论基础。

Kinematics Analysis of Quadruped Robot Climbing Step Based on Body Flipping

This paper presented a new step-climbing method of quadruped robot based on body flipping in order to improve its obstacle-negotiation ability.Quadruped robot was equivalent to planar linkage mechanism during step climbing.The motion during a complete step-climbing process was planned,and the process was divided into five phases.Kinematics modeling and analysis of each phase were presented;the angular displacement of robot joints and the trajectory of robot gravity were obtained through simulation.The relationship between the capability of step-climbing and geometric parameters of the robot was discussed,the results show that quadruped robot has strong capability of step-climbing when it uses the proposed method.This paper demonstrates the feasibility of the proposed method from the aspect of kinematics,makes some beneficial exploration in the methods of obstacle-negotiation,and provides a theoretical base for further researches.