气动仿生六足机器人腿部设计与运动实验

为了提高气动仿生六足机器人的灵活性,机器人腿部采用三自由度气动空间弯曲柔性关节驱动,腿部装有抬升机构,可改变腿部的抬升高度,调整机器人重心高度。建立了腿部抬升高度和步距模型,利用三维运动捕捉系统,获得机器人腿部抬升高度、关节形变和足部工作空间,并分析了六足机器人越障高度。通过理论计算和实验可知,机器人腿部运动灵活,可跨越高度为30 mm的障碍。该研究为气动柔性关节仿生六足机器人的步态规划和控制提供了参考。

Leg Design and Motion Experiment of Pneumatic Hexapod Bionic Robot

To improve the flexibility of the pneumatic hexapod robot,the legs of hexapod robot were driven by tri muscle pneumatic space bending flex joints.The leg was equipped with lifting mechanism,which could change the lifting height of the leg and adjust the height of the center of gravity of the robot.The lifting height and step distance model of robot leg were built.3D motion capture system was used to acquire the lifting height of robot leg,joint deformation and foot working space,and the obstacle crossing height of the hexapod robot was analyzed.The calculation and experiments show that the motions of legs are flexible and the robot can pass through the barrier with 30 mm height.The achieved results provide references to the gait planning and control.