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首页> 外文期刊>Robotics and Computer-Integrated Manufacturing >A geometric approach to solving the stable workspace of quadruped bionic robot with hand-foot-integrated function
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A geometric approach to solving the stable workspace of quadruped bionic robot with hand-foot-integrated function

机译：具有手足集成功能的四足仿生机器人稳定工作空间的几何方法

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摘要

This paper discusses stable workspace of a hand-foot-integrated quadruped walking robot, which is an important issue for stable operation of the robot. This robot was provided with combined structure of parallel and serial mechanisms, whose stable workspace was the subspace of the workspace in which the system was considered stable. The reachable region was formed under structural conditions, while the stable space was formed by the overall conditions of stability which changed with the robot's pose and the mass of grabbed object. In this paper, based on the robot's main structure, the key issues in solving the robot's workspace are discussed in detail, including searching steady conditions of operation of the robot To research the robot's workspace, working leg's motion curve needed to be solved by kinematics analysis. Due to the redundant drive, it was problematic to deal analytically with the kinematics of the quadruped walking robot. A geometric method of kinematic analysis was proposed as well. Based on the geometric method, the workspace of the robot under varying postures was analyzed by the method of grid partition and in combination with Matlab, VB and Solidworks software programs. An automated computational system of the stable workspace was developed and an example was given to illustrate the whole process in detail. The theory and analysis procedures were also verified by simulation of the robot and its actual grabbing of an object.
机译：本文讨论了集成有手足的四足步行机器人的稳定工作空间，这是稳定机器人工作的重要问题。该机器人具有并行和串行机制的组合结构，其稳定的工作空间是系统被认为稳定的工作空间的子空间。可到达区域是在结构条件下形成的，而稳定空间是由整体稳定性条件形成的，整体条件随机器人的姿势和所抓物体的质量而变化。本文以机器人的主要结构为基础，详细讨论了解决机器人工作空间的关键问题，包括寻找机器人工作的稳定条件。要研究机器人的工作空间，需要通过运动学分析来解决工作腿的运动曲线。 。由于冗余驱动，分析处理四足步行机器人的运动学是有问题的。还提出了一种运动学分析的几何方法。基于几何方法，通过网格划分的方法，结合Matlab，VB和Solidworks软件程序，分析了机器人在不同姿势下的工作空间。开发了稳定工作空间的自动化计算系统，并给出了一个例子来详细说明整个过程。通过对机器人的仿真及其对物体的实际抓取，也验证了理论和分析程序。

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  • 来源
  • 作者

    Liangwen Wang; Wenliao Du; Xiaoqi Mu; Xinjie Wang; Guizhong Xie; Caidong Wang;

  • 作者单位

    School of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Zhengzhou, China;

    School of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Zhengzhou, China;

    School of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Zhengzhou, China;

    School of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Zhengzhou, China;

    School of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Zhengzhou, China;

    School of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Zhengzhou, China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Quadruped robots; Workspace; Hand-foot-integrated; Stability; Geometric method;

    机译：四足机器人工作区;手脚一体式稳定性;几何方法;

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