【摘要】 本文目的是验证仿生机器人腿部设计的合理性。在进行四足仿生机器人腿部设计时,大家往往采用大腿和小腿独立的开式设计。而闭式设计有控制简单、驱动数目少,进而减轻总体重量的优点。本设计中就是采用闭式的切贝谢夫连杆机构作为机器人的腿部。本文首先对该连杆机构进行运动学建模;其次对其进行运动学正反解计算;然后将分析的结果进行仿真,得出转角关系和轨迹曲线;再通过对比轨迹曲线,得到轨迹曲线对比仿真图;最后对四足仿生机器人进行轨迹优化和仿真,得到较好的运动结果。进而得出该连杆机构能够作为机器人的腿部并使机器人具有一定的重心稳定性的结论。更多还原

【Abstract】 The purpose of this paper is to verify the rationality of the design of the bionic robot’s legs. In the design process,the open design of thigh and leg is often used,but the closed design has the advantages of simple control,less driving and weight reduction. The closed Chebyshev linkage was used as the robot’s legs in this design. The kinematic modeling of the linkage mechanism was carried out firstly,then the forward and inverse solutions were calculated,and the results were simulated to draw the relationship between the angles and the curves. The curves contrast simulation diagrams were drew by comparing the curves. Finally,the trajectory optimization and simulation of the four legged bionic robot were conducted and the result was better. It was concluded that the linkage mechanism can be used as the leg of the robot and the robot has a certain stability of the center of gravity.更多还原