文献类型：期刊文献

中文题名：爬墙机器人腿部结构比例研究

英文题名：The Comparative Study About Climbing Robot Leg Structure

作者：郑小伟[1];杨志成[1];闫贵琴[1];王宇晨[1]

第一作者：郑小伟

机构：[1]北京联合大学生物化学工程学院

第一机构：北京联合大学生物化学工程学院

年份：2016

卷号：0

期号：12

起止页码：75-77

中文期刊名：机械设计与制造

外文期刊名：Machinery Design & Manufacture

收录：CSTPCD;;北大核心:【北大核心2014】；

基金：北京联合大学"启明星"大学生科技创新项目(201511417027)

语种：中文

中文关键词：腿部比例;步态规划;行进速度;越障能力

外文关键词：Leg Proportions; Gait Planning; Advancing Speed; Obstacle Ability

摘要：针对爬墙机器人腿部比例不同对机器人行进速度和越障能力影响不同,提出一种串联旋转式摆动机器腿,可以通过研究大腿与小腿之间的比例,对机器人行进速度和越障能力之间的关系进行优化。为了提高机器人的可实用性,对机器人进行了步态规划,建立了腿部笛卡尔坐标系、推导了腿部运动学模型。经研究发现,大腿与小腿的结果比例在特定范围之间时,各项理论指标处于合理范围。为了验证研究的有效性,按照设计的腿长比例建立了机器人实物模型,并对模型进行实物验证。结果表明,机器人行进速度和越障能力方面满足设计要求。
In order to solve the problem that Climbing robots with different leg proportions have different impacts on advancing speed and obstacle ability, we design a series rotary swing machine leg which you can optimize the relationship between advancing speed and climbing obstacle ability through making a study on the ratio between robot＇s thigh and calf. In order to improve robot＇s practicability we make a gait planning and establish Cartesian coordinate system on our robot, this system can help us build a leg kinematics model. According to the research, if the ratio between robot＇s thigh and calf is in the specific range, the theoretical indicators of this robot is in a reasonable range too. To verify the validity of the research, a physical model of our robot is established according to the designed leg proportions. And the physical verification is made for the model. The results show that the robot＇s advancing speed and obstacle ability can meet the design requirements.