| 贾云博， 许勇， 杜静恩， 施浩然， 赖磊捷， 徐蕊.基于2UU UPU并联机构的4足机器人设计[J].轻工机械,2022,40(1):28-33 |
| 基于2UU UPU并联机构的4足机器人设计 |
| Design of Quadruped Robot Based on 2UU UPU Parallel Mechanism |
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| DOI：10.3969/j.issn.1005 2895.2022.01.006 |
| 中文关键词: 并联机构 4足机器人 工作空间 Kutabach Grübler公式 MATLAB软件 |
| 英文关键词:parallel mechanism quadruped robot workspace Kutabach Grübler formula MATLAB |
| 基金项目:上海市自然科学基金（21ZR1426000）。 |
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| 中文摘要: |
| 针对串联4足机器人负载能力低及由误差累积导致的控制精度低的问题，课题组采用2UU UPU并联机构作为4足机器人大腿基本构型，并在动平台上添加一长杆作为小腿结构设计了新型4足机器人。首先基于修正的Kutabach Grübler公式计算单腿机构的自由度并进行验证；其次利用几何关系求解该结构的逆解表达式；然后基于结构的约束条件，借助MATLAB软件求得该并联机构的工作空间；接着在SolidWorks中建立4足机器人的三维模型；最后进行4足机器人的步态规划和仿真分析。结果表明：该机构工作空间大，运动平稳，控制方便，适合作为4足机器人腿部结构。该研究在工程上有一定的实用性。 |
| 英文摘要: |
| Aiming at the shortage of low load capacity and low control accuracy caused by error accumulation of the series quadruped robot, the 2UU UPU parallel mechanism was adopted as the basic configuration of the robot thigh, and a long rod was added on the moving platform as the leg structure to design a novel quadruped robot. Firstly, based on the modified Kutabach Grübler formula, the degree of freedom of the single leg mechanism was calculated and verified. Secondly, the inverse solution expression of the structure was solved by using the geometric relationship. Based on the constraint conditions of the structure, the workspace of the parallel mechanism was obtained by using MATLAB software. Then, the three dimensional model of the quadruped robot was established in SolidWorks. Finally, the gait planning and simulation analysis of the quadruped robot were carried out. The results show that the mechanism has large working space, smooth motion and convenient control, which is suitable for the leg structure of quadruped robot. The research has a certain engineering practicability. |
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