%0 Journal Article
%T 十二自由度四足机器人的腿机构设计与步行实验<br>The Design and Walking Experiment for Leg Mechanism of A Quadrupedal Robot with 12 Degrees of Freedom
%A 盛沙
%A 王建中
%A 潘少鹏
%A 施家栋
%J 机械科学与技术
%D 2015
%X 针对四足机器人研究中存在电机驱动不强和效率低的问题，采用耦合驱动的腿机构来构建四足机器人。设计了具有复合运动模式的耦合驱动髋关节，通过髋关节两个电机选取不同的旋转方向和速度，产生多角度的复合运动。运用此腿机构研制具有12个主动自由度的原型样机。根据静态稳定裕度，设计了机器人静态行走步态，运用分布式CAN总线搭建机器人的运动控制系统。实验证明：四足机器人运动平稳，一个运动周期移动距离为32 cm，单足抬起高度为4 cm，满足设计的要求。<br>Aimed at the weakness of the motor drive and low efficiency in the research on a quadruped robot, a coupled driven leg mechanism is proposed to build a four-leg robot. The coupled driven hip joint with a complex motion pattern is designed, which can produce a multi-angle composite motion by selecting different rotation direction and speed in the two motors in hip joint. A quadruped robot with 12 active degrees of freedom is developed with this leg mechanism. According to the static stability margin, static walking gait is designed. The motion control system of the robot is built with distributed CAN bus. The walking experiment shows that the robot can move smoothly and meet the design requirements
%K 四足机器人
%K 腿机构
%K 耦合驱动&lt
%K br&gt
%K coupled driven
%K experiments
%K leg mechanism
%K quadruped robot
%K stability
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract5971.shtml