军用轮、腿混合四足机器人设计

为设计一种可以在迈步行走、有动力轮式机动、无动力轮旱冰式滑行3种运动方式之间灵活转换的轮、腿混合四足机器人，提出一种采用3-PUPS机构的超冗余、可变胞并联机械腿，其构型可以通过伺服电机的抱闸锁定实现变胞变换，从而使机械腿能根据任务需求实时改变自身构型和性能。在建立机械腿3-PUPS机构的运动学和静力学模型基础上，通过定义运动学和静力学性能评价指标，分析了机械腿尺寸参数对其各性能评价指标的影响规律，从而确定机械腿一组使机械腿运动学和静力学性能较为均衡的结构参数，并研制出机械腿的实验样机。建立轮、腿混合四足机器人整机的通用运动学模型，定义机器人整机的性能评价指标，分析机器人整机尺寸参数对其各性能评价指标的影响规律，并确定整机尺寸参数值，在此基础上完成了轮、腿混合四足机器人整机的设计方案。通过一套专用机器人标定系统对机械腿的实验样机进行位姿测量实验。研究结果表明：机械腿运动平台的实际运动沿x轴方向最大偏差为0.041 mm，沿y轴方向最大偏差为0.040 mm，沿 z轴方向最大偏差为0.040 mm；绕z轴姿态角最大偏差为0.041°，绕y轴姿态角最大偏差为0.043°，绕x轴姿态角最大偏差为0.045°；机械腿实验样机达到了通用式工业机器人的精度水平。

Design of Military Wheel-leg Hybrid Quadruped Robot

A military wheel-leg hybrid quadruped robot is developed,which can move by the dynamic driving wheels on the road without being damaged at high speed,and can walk by stepping alternately in the ruins with its mechanical legs,and can skate on a fiat road by the wheels without dynamic driving.The robot can walk at the maximum speed with the minimum energy consumption.A new type of metamorphic mechanical leg based on the 3-PUPS parallel mechanism is proposed,and its kinematic analysis is done.The effects of dimension parameters of 3-PUPS mechanism on its kinematic and static evaluation indexes are analyzed by defining performance evaluation indexes.A set of the structural parameters of mechanical leg is selected,and an experimental prototype of mechanical leg is developed.A general mechanism model of wheel-leg hybrid quadruped robot is established,and the relationship among robot's parameters and its kinematic and static evaluation indexes is revealed.A set of structural parameters of wheel-leg hybrid quadruped robot is selected,and the overall design of wheel-leg hybrid quadruped robot is completed.The pose of mechanical leg experimental prototype is measured using a special robot calibration system.Experimental results show that the maximum error of mechanical leg motion platform along x axis is 0.041 mm,the maximum error along y axis is 0.040 mm,the maximum error along z axis is 0.040 mm,the maximum error of the attitude angle around z axis is 0.041°,the maximum error of attitude angle around y axis is 0.043°,and the maximum error of attitude angle around x axis is 0.045°.The experimental prototype of mechanical leg meets the design requirements.