本文選題：Jansen-leg + 足端運動軌跡��； 參考：《機械工程學報》2017年15期

【摘要】：通過基于標準Theo Jansen仿生腿(Jansen-leg)機構研制出的小型仿生機器人實物樣機的性能測試,發(fā)現(xiàn)該機構存在足端運動軌跡單一、地形適應性差等不足之處,針對此進行Jansen-leg機構的系統(tǒng)優(yōu)化與革新設計。將雙邊測量中的距離方程應用于標準型仿生腿的運動學建模,作為機構優(yōu)化中動態(tài)變換點的運動學分析的理論依據(jù)。通過可重構的優(yōu)化設計方法,得到了能夠適應趾行、避障、泥地、攀爬等運動的諸多新型足端運動軌跡模式。受到優(yōu)化設計過程和結果的啟發(fā),在繼承Jansen-leg機構優(yōu)點的同時對其進行機構革新設計。設計的新機構不但具有很好的越障性、通過性、足端運動軌跡模態(tài)多樣性,還具有控制簡單、關節(jié)運動協(xié)調性好等諸多優(yōu)點。提高了該機構對非結構地形環(huán)境的適應性,拓展了該機構的應用范圍。
[Abstract]:Through the performance test of the prototype of a small bionic robot based on the standard Theo Jansen bionic leg mechanism, it is found that the mechanism has some shortcomings, such as the single track of the foot end and the poor terrain adaptability. Aiming at this, the system optimization and innovation design of Jansen-leg mechanism are carried out. The distance equation in the bilateral measurement is applied to the kinematics modeling of the standard bionic leg, which is used as the theoretical basis for kinematics analysis of the dynamic transformation points in the mechanism optimization. Through the reconfigurable optimization design method, a number of new foot trajectory patterns are obtained, which can adapt to the movement of toe, obstacle avoidance, mud, climbing and so on. Inspired by the optimization design process and results, the mechanism innovation design is carried out while inheriting the advantages of Jansen-leg mechanism. The designed new mechanism not only has many advantages, such as good obstacle surmounting, passability, various modes of foot motion trajectory, but also simple control, good coordination of joint motion, and so on. The adaptability of the mechanism to the unstructured terrain environment is improved, and the application range of the mechanism is expanded.
【作者單位】： 中國科學技術大學精密機械與精密儀器系;西南科技大學制造過程測試技術省部共建教育部重點實驗室;
【基金】：國家自然科學基金(51375410,61401379) 西南科技大學制造過程測試技術省部共建教育部重點實驗室團隊項目基金(13zxzk09)資助項目
【分類號】：TP242
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本文編號：1922899