基于混联腿部构型的双足机器人的运动学分析和样机设计

本文针对传统全铰接式双足机器人动态运动性能差、末端转子惯性大、与环境有机互动难，被动动力驱动机器人步态局限大和应用场景单一等问题，以研究顺应驱动机器人的腿部构型为目的，深入研究了一种基于混联结构的顺应驱动机器人的腿部构型，期望能够应用于双足机器人腿部构型的设计优化上，从腿部性能入手，提高机器人整体动态运动性能。另外，本项目的初衷是希望通过该研究进一步为各类双足机器人运动控制算法应用到实处提供有实现性能的样机，为今后双足机器人的性能发展带来更多的实际应用价值。具体内容如下：

对双足机器人样机腿部构型和整体设计进行研究。针对双足机器人腿部构型进行分析，提出全方位运动、稳定性等需求。就一种顺应驱动腿部构型进行分析和设计优化，并进行自由度分析。根据确定的腿部构型进行样机整体设计，搭建了基于Solidworks的三维模型，给出了样机模型的尺寸等参数，并对机器人关键部位的设计进行了说明。

建立顺应驱动腿部构型的运动学模型，并进行仿真验证。对设计好的腿部构型进行运动学分析，并建立腿部坐标系。根据旋量理论建立正运动学模型，利用解析法建立逆运动学模型。根据搭建好的三维模型，确定腿部坐标系坐标、身体坐标系、世界坐标系的位姿。运用ADAMS软件建立仿真实验平台。对机器人运动轨迹进行规划，并进行机器人踏步步态仿真实验，验证了该腿部构型的运动学建模和三维模型的正确性。

基于设计好的样机构型，搭建了顺应驱动双足机器人的样机，并进行了样机性能测试。搭建了实验控制平台，进行控制模块和运动执行模块的选型。基于双足机器人设计需求，完成双足机器人的加工和组建。开展了机器人样机性能测试实验，包括机器人空中踏步和地面踏步的运动实验。实验结果验证了该样机基本满足步行运动需求。

本文的研究成果，对于基于混联结构的顺应驱动机器人在构型设计和样机开发方面的研究，具有一定的参考和借鉴价值。

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