Motion capability analysis of a quadruped robot as a parallel manipulator
Motion capability analysis of a quadruped robot as a parallel manipulator
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四足机器人作为并联机械臂的运动能力分析
DOI：
10.1007/s11465-014-0317-7
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发表时间：
2014-12
影响因子：
4.5
通讯作者：
裴旭
中科院分区：
文献类型：
--
作者：
于靖军;陆登峰;张忠祥;裴旭
对四足机器人MANA进行了位置正、逆解分析，得到了机构的工作空间，实现了机构的运动控制。基于四足哺乳动物的结构设计的MANA机器人不仅能够在不平坦的地形上行走和转弯，而且作为一个并联机械手在四个站姿阶段完成各种操作任务。然而，后者将是本文的重点。为此，对腿部运动学进行了初步分析，为并联机器人的步态规划和运动学分析奠定了基础。当机器人的四只脚全部与地面接触时，通过假设两只脚之间没有打滑，将每个接触点视为一个被动球面关节，建立了并联机器人的运动学模型。阐述了从12个可选关节中选择6个非冗余度驱动关节的方法。利用坐标变换的方法，对并联机器人进行了位置正反分析。最后，基于逆运动学和正解运动学模型，对并联机器人可达工作空间的获取和机构运动规划两个问题进行了实现，并通过ADAMS仿真进行了验证。
This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.
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DOI：
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DOI：
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