转盘式多足仿生机器人的运动学分析及优化

为解决多足机器人控制系统复杂、加工装配困难的问题，设计了一种基于单自由度Jansen连杆机构的转盘式多足仿生机器人，并对其进行运动学分析和优化。首先，运用旋量理论对机器人的单条仿生机械腿进行自由度验证，并运用复数矢量法对仿生机械腿进行运动学求解，得到其足端运动轨迹方程及各关节的转动角度。然后，基于仿生机械腿足端的运动轨迹及其影响因素，分析了其优化方向。接着，提出了转盘式传动机构，并对仿生机械腿的转动关节和足端进行了优化，同时利用SolidWorks软件对转盘式多足仿生机器人的步态进行了时序分析。最后，制作了转盘式多足仿生机器人样机并分析了其在常规路况下的运动能力，验证了其可行性。结果表明，改变曲柄长度和机架水平倾角可优化多足仿生机器人的运动轨迹，使其更符合实际应用所需；转盘式传动机构与多条仿生机械腿的叠加，提升了机器人的环境适应性。研究结果为后续机器人系统的设计及工程应用提供了重要的理论依据。

Kinematics analysis and optimization of rotary multi-legged bionic robot

In order to solve the problems of complex control system and difficult machining and assembly of multi-legged robots, a rotary multi-legged bionic robot based on the single-degree-of-freedom Jansen linkage mechanism was designed, and its kinematics analysis and optimization were carried out. Firstly, the degree of freedom of the single bionic mechanical leg of robot was verified by the screw theory, and the kinematics of the bionic mechanical leg was solved by using the complex vector method, so as to obtain the motion trajectory equation of the foot end and the rotation angle of each joint. Then, based on the motion trajectory of the bionic mechanical leg foot end and its influencing factors, the optimization direction was analyzed. And then, a rotary transmission mechanism was proposed and the rotation joint and foot end of the bionic mechanical leg were optimized, at the same time, the gait of the rotary multi-legged bionic robot was analyzed by using the SolidWorks software. Finally, the rotary multi-legged bionic robot prototype was made and its movement ability under normal road conditions was analyzed to verify its feasibility. The results showed that changing the crank length and the horizontal inclination angle of frame could optimize the motion trajectory of the multi-legged bionic robot, which made it more suitable for practical applications; the superposition of the rotary transmission mechanism and multiple bionic mechanical legs could improve the environmental adaptability of the robot. The research results provide an important theoretical basis for the design and engineering application of the follow-up robot system.