基于3-UPU六足步行机器人的步态规划

提出一种基于非对称3-UPU并联机构的新型六足步行机器人,其具有承载能力大、通过能力强、控制容易等优势。首先,对六足步行机器人进行结构设计,然后,综合考虑机器人的稳定性和腿部干涉两种情况,设计了最大横向移动步幅。还对六足步行机器人进行了步态规划,包括机器人两组腿的占空系数、运动次序、运动步幅、运动轨迹及各分支等效杆长随机器人的移动的变化。

Gait Planning of Hexapod Walking Robot based on 3-UPU

A new hexapod walking robot based on asymmetric 3-UPU is proposed,it has the advantages of large carrying capacity,strong passing ability,easy control and so on.Firstly,the structure of hexapod walk.ing robot is designed,then the stability of the robot and the interference of the legs are considered synthetically,the maximum transverse moving stride is designed.The gait planning of the hexapod walking robot is carried out,including the duty cycle coefficient of the two groups of legs,the order of motion,and the moving stride,the movement trajectory and the equivalent rod length of each branch vary with the movement of the robot.