1T2R脱式轮脚可重新配置机制的配置综合和性能分析
Jingjing Shi1, Ruiqin Li1, Wenxiao Guo1
1School of Mechanical Engineering, North University of China, Taiyuan 030051, China.
Micromachines
|August 28, 2025
概括
这项研究引入了一种用于合成和优化可重新配置的机器人腿的新方法. 这种方法确保了机器人的有效运动和稳定步伐,
科学领域:
- 机器人技术
- 机械工程
- 生物力学
背景情况:
- 可重新配置的机器人腿提供适应性,但在配置合成和性能优化方面面临挑战.
- 现有的设计往往缺乏有效的运动规划和步态生成能力.
研究的目的:
- 提出可重新配置的平行机械脚的配置合成方法.
- 开发一个评价指数来选择最佳的腿部配置.
- 为机器人提供特定任务的运动模式选择和步态规划.
主要方法:
- 用类型合成理论解并行机制来合成配置.
- 开发了一个结构复杂性评估指数用于机制选择.
- 进行了动力学分析,推导了反向位置方程,并计算了雅可比矩阵.
- 分析工作空间和运动/力传输性能.
- 使用全球性能波动指数优化结构参数.
- 基于生物原理和静态稳定性标准的计划机器人步行.
主要成果:
- 成功合成和评估可重新配置的机械脚的配置.
- 在两个运动模式中实现完全脱的自由度.
- 优化机械腿部参数以提高性能.
- 在昆虫模式下使用合成腿的机器人成功进行步行规划.
结论:
- 拟议的方法有效地合成和优化可重新配置的机械脚.
- 开发的评估指数有助于选择优质的配置.
- 这种方法有助于机器人适应各种任务.
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