【摘要】 针对直接串联式结构承载能力较弱的问题,设计了一种基于双四连杆构型的仿生蟑螂机器人,该构型运动灵活,承载能力强且可以实现解耦控制.建立了该构型的数学模型,进行运动学分析,求解出机器人的正解以及逆解.采用压力感应电阻(FSR,Force SensingResistor)以及光电开关联合检测蟑螂机器人行走在崎岖路面时足端是否落地的信息,而且提出一种新的足端轨迹规划实现蟑螂机器人在崎岖路面的快速行走,综合之前的运动学计算,设计了可用来控制蟑螂机器人在崎岖路面行走的算法,实验验证该算法可以控制机器人在崎岖路面以10 cm/s的速度行走.更多还原

【Abstract】 To solve bad system rigidity and weak bearing capacity of series connecting mechanism,the couple four-bar linkage mechanism was proposed,which can synthesis advantages of existing mechanism.The cockroach robot based on couple four-bar linkage achieved moving agilely,good rigidity,strong bearing capacity and decoupling control.Built the mathematical module of this mechanism,used basic theory of linkage and mathematical of robot analyzed the backward kinematics and forward kinematics of the cockroach robot,then got an algorithm to control it walk on the flat road.Used force sensing resistor(FSR) and photoelectric switches to check whether foots’ end have stand on the road.For walking fast on the tough terrain,a new planning for the track of foot was proposed.An algorithm was designed integrated the kinematics which can achieve by C Program.At last an experiment was designed.The results verify the algorithm can control the robot walk on the tough terrain as fast as 10 cm/s.更多还原