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针对直接串联式结构承载能力较弱的问题,设计了一种基于双四连杆构型的仿生蟑螂机器人,该构型运动灵活,承载能力强且可以实现解耦控制.建立了该构型的数学模型,进行运动学分析,求解出机器人的正解以及逆解.采用压力感应电阻(FSR,Force SensingResistor)以及光电开关联合检测蟑螂机器人行走在崎岖路面时足端是否落地的信息,而且提出一种新的足端轨迹规划实现蟑螂机器人在崎岖路面的快速行走,综合之前的运动学计算,设计了可用来控制蟑螂机器人在崎岖路面行走的算法,实验验证该算法可以控制机器人在崎岖路面以10 cm/s的速度行走.
Aiming at the weak bearing capacity of direct tandem structure, a bionic cockroach robot based on double four-bar linkage is designed, which has the advantages of flexible movement, strong carrying capacity and decoupling control. Mathematical model and kinematics analysis to solve the positive solution and the inverse solution of the robot.We used FSR (Force Sensing Resistor) and photoelectric switch to detect whether the foot of the cockroach robot landed while walking on rough terrain, and proposed a The new foot-end trajectory planning implements the rapid walking of roach robots on rough terrain. Based on the previous kinematics calculations, an algorithm that can be used to control the roach robots walking on rough terrain is designed. The experimental results show that the algorithm can control the robot to walk on rough terrain with 10 cm / s speed walking.