电动力液压驱动四足双臂机器人的设计与实现

针对定基座机器人在复杂环境下作业能力不足的问题，研制出电动力液压四足双臂机器人，将浮动基座与双臂系统的优势有机结合，能够代替人员完成复杂环境下应急处置、工程作业等任务。详细阐述了四足双臂机器人的机械结构、机载电液动力系统、分布式控制系统以及仿真与操作训练平台的设计与实现。提出基于全身虚拟模型的足底力分配方法与足臂协调运...

Design and Implementation of an Electro-hydraulic Quadruped Robot with Dual-arm

Aiming at the lack of manipulability of the fixed-base robots in complex environments,an electro-hydraulic quadruped robot with dual-arm is developed,which integrates the advantages of a floating base and a dual-arm system,and can replace humans to complete emergency handling and engineering operations in complex environments.The design and implementation of mechanical mechanism,onboard electro-hydraulic system,distributed control system,simulation and operation training platform of the quadruped robot with dual-arm are presented.A method of feet forces distribution based on whole-body virtual model and a collaborative motion planning method of legs and arms are proposed to realize the coordinated movements of the floating base and the dual-arm system,which improves the manipulability and efficiency of the robot.Simulations of single-arm manipulation and dual-arm collaborative manipulation are carried out through the developed simulation and operation training platform,which verifies the effectiveness of the proposed control method.The operators perform robot operation training on the developed platform.In physical prototype experiments,the abilities of single-arm grasping and dual-arm collaborative grasping are verified,which proves that the quadruped robot with dual-arm can meet the requirements of mobile manipulation in complex environments.