空间四足爬行机器人设计及步态规划

针对现有的爬行机器人全空间内攀爬和越障能力不足、爬行转向不够灵活的问题,设计了一种空间四足爬行机器人,该机器人从正四面体体心到4个顶角在空间中对称布置4只采用真空吸附的爬行足。机器人爬行期间,始终保持三只爬行足稳定吸附于爬行表面,另一爬行足可以在空间中选择三种路径翻转,可实现直行、转弯、越障及跨越直角爬行表面等功能,并可完成360°空间连续攀爬。文章分析了空间四足爬行机器人的机械结构及其自由度,研究了爬行过程中机器人的球壳中心位移、移动副线位移以及转动副角位移随时间的变化情况,规划了机器人的爬行步态。仿真和计算结果表明,该机器人结构紧凑、运动灵活,空间越障能力强。

Design of Space Quadruped Crawling Robot and the Gait Planning

At present, crawling robot has the problems of insufficient ability of climbing and obstacle surmounting ability in the whole space and insufficient flexibility of steering. A space quadruped crawling robot is designed. From the center of the tetrahedron to the four apexes,four crawling feet of the robot which adopts vacuum adsorption method are symmetrically arranged in space. During the robot′s crawling,the three crawling feet always maintain a regular triangle to be stably adsorbed on the crawling surface. Another crawling foot in space can choose three paths to turn over. The crawling robot can achieve the functions of straight line,turning,crossing barrier and crossing the right angle wall,and can complete the continuous climbing of 360° space. The mechanical structure and freedom degrees of the crawling robot are analyzed. The changes of the center displacement of the spherical shell,the displacements of the moving pairs and the angular displacements of the rotating pairs with time during the crawling process are studied. And the crawling gaits of the robot are planned finally. The simulation and calculation results show that the robot is compact in structure,flexible in movement and strong in obstacle surmounting.