柔索驱动仿生机体弯曲动力学建模与仿真

摘要

基于四足生物躯体运动机理,提出一种柔索驱动的四足机器人仿生机体.它由前机体、后机体、仿生脊柱和柔索驱动组件组成,可实现仿生机体的侧向和上下俯仰弯曲.采用坐标变换法进行了该仿生机体的运动学分析;基于拉格朗日法和浮动坐标系法进行了仿生机体动态弯曲的刚柔耦合动力学分析,确定了仿生机体弯曲所需柔索驱动力,对比分析了不同刚度机体的动态弯曲特性.基于虚拟样机技术进行了仿生机体弯曲仿真分析,验证了理论分析的正确性,为提高四足机器人在非结构化环境中的机动性的研究奠定了理论基础.%Based on the movement mechanism of quadruped organisms, a kind of bionic body of wire driven quadruped robots is proposed.It is composed of the front body, rear body, bionic spine and two groups of cable driving com-ponents, with the a bility to achieve the lateral or up/down bending.The coordinate transformation method is adopted to analyze the bionic body ' s kinematics.The Lagrange method and the floating coordinate system method are used to analyze the coupled dynamics modeling of the dynamic bending of the bionic body, and the driving force for bending the bionic body is determined.The dynamic bending characteristics of the body of different stiffness are analyzed.Based on the virtual prototype technology, a body dynamic bending simulation is performed to verify the correctness of the theoretical analysis, with the aim of laying the theoretical foundation for the research on improving the mobility of quadruped robots walking in unstructured environments.