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| 双轮腿机器人腿部四连杆机构优化 |
| Optimization of the Four Link Mechanism of the Legs of a Double‐wheeled Legged Robot |
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| DOI：10.16018/j.cnki.cn32-1650/n.202401005 |
| 中文关键词: 双轮腿机器人 四连杆机构 优化 稳定性 |
| 英文关键词: double-wheeled legged robot four link mechanism optimization stability |
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| 中文摘要: |
| 双轮腿机器人是一种新型的机器人，其采用双轮和两腿的结构，能够在不平整的地面上行走和移动。为了解决机器人在抬升与下降过程中质心水平位置变化过大而影响其运动稳定性的问题，建立机器人腿部四连杆机构优化设计的数学模型，并利用软件ADAMS建立四连杆机构的参数化模型，对双轮腿机器人腿部杆件尺寸参数进行优化，寻找最优解。经仿真验证，四连杆参数优化后，x向位移的偏差由原来的10. 831 7 mm缩小到2. 391 8 mm，机器人腿部在升降过程中的稳定性得到提升。 |
| 英文摘要: |
| The double-wheeled legged robot is a new type of robot, which adopts the structure of two wheels and two legs, and can walk and move on uneven ground. In order to solve the problem that the horizontal position of the center of mass changes too much during the lifting and descending process of the robot, which affects its motion stability, the mathematical model of the optimization design of the four link mechanism of the robot leg is established, and the parametric model of the four link mechanism is established by using the software ADAMS. The size parameters of the leg bar of the wheel-legged robot are optimized to find the optimal solution. According to the optimization results, after the parameter optimization of the four-link, the deviation of the x-direction displacement is reduced from 10. 831 7 mm to 2. 391 8 mm, and the stability of the robot leg is improved during the lifting process. |
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