| 两栖仿海龟机器人步态规划及分析 |
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| 引用本文： | 芮宏斌,李路路,曹伟.两栖仿海龟机器人步态规划及分析[J].机械科学与技术(西安),2023,42(1):46-52. |
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| 作者姓名： | 芮宏斌 李路路 曹伟 |
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| 作者单位： | 西安理工大学 机械与精密仪器工程学院, 西安 710048 |
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| 基金项目： | 国家自然科学基金面上项目517754322022年陕西省教育厅重点科研计划项目22JY051陕西省技术创新引导专项2018ZKC-1602023年陕西省科技厅重点研发计划项目2023-YBGY-357 |
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| 摘 要： | 针对清淤机器人移动困难、稳定性差等问题，参考海龟的身体结构和爬行动作，设计出了一种两栖仿海龟机器人。在介绍机器人结构的基础上，利用D-H方法对机器人进行运动学分析，建立并求解了支腿的变换矩阵和运动学方程；规划了两种仿海龟爬行步态，根据机器人结构规划了电推缸的行程空间，并对足端轨迹和爬行步态做以优化；在ADAMS中进行运动仿真，分析了机体的位移和速度变化曲线。结果表明，优化后的步态可以大大提高机器人的爬行速度和稳定性。
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| 关 键 词： | 仿海龟机器人 运动学分析 D-H方法 步态规划 轨迹规划 ADAMS |
| 收稿时间： | 2021-01-22 |
Gait Planning and Analysis of Amphibious Turtle Inspired Robot |
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| Affiliation: | School of Mechanical and Precision Instrument engineering, Xi′an University of Technology, Xi′an 710048, China |
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| Abstract: | In order to solve the problems such as difficulty in moving and poor stability of the dredging robot, a kind of amphibious turtle inspired robot was designed by referring to the body structure and crawling movement of turtles. Based on the introduction of the structure of the robot, the D-H method was used to analyze the kinematics of the robot, and the transformation matrix and kinematics equation of the leg were established and solved. Two kinds of crawling gaits were planned. According to the robot structure, the travel space of the electric push cylinder was planned, and the foot trajectory and crawling gait were optimized. The motion simulation was carried out in ADAMS, and the curves of displacement and velocity of the airframe were analyzed. The results show that the optimized gait can greatly improve the crawling speed and stability of the robot. |
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