基于空间模型技术的拟人机械腿的运动学传递性能分析

为了弥补当前拟人机器人结构的不足和改善拟人机械腿的通用性和适应性。该文提出了一种拟人机械腿机构,并研究了该拟人机械腿的运动学传递性能。推导出该拟人机械腿的位置反解及运动传递平衡方程,定义了运动传递性能评价指标及大小腿的全域性能评价指标,在有限的空间图形中,分别研究了各结构参数(各主要杆件的长度及结构角度)与各全域线速度传递性能的评价指标、全域角速度传递性能的评价指标之间的分布规律。研究结果表明,各结构参数的取值越靠近中间值时,全域线速度传递性能的评价指标值较好,随着杆WE、杆ED与杆O1D的增加,全域角速度传递性能的评价指标值越好,随着杆OC、BC、DO1和GH的减小,全域角速度传递性能的评价指标值越好。该研究为此种拟人机械腿的进一步参数优化、轨迹规划及研制提供依据。

Kinematics transmission analysis on anthropopathic mechanical leg based on spatial model technique

Abstract: In order to make up for the deficiencies of the anthropopathic robots structure and improve its popularity and adaptability, a novel anthropopathic mechanical leg was proposed, and its kinematics transmission analysis was discussed in detail. First of all, the inverse position equations and kinematics transmission equations for the anthropopathic mechanical leg were derived analytically. Then the evaluation indicator of kinematics transmission properties and global performance indicator of kinematics transmission properties for the thigh and calf of anthropopathic mechanical legs were defined based on the position and kinematics analysis. Finally the kinematics atlases were analyzed using the spatial model technique, and the effects of the parameters on the global performance indicator of kinematics transmission were given in the limited space coordinate system. The research results of the kinematics analysis showed that, with the parameters closer to the intermediate value, the evaluation indicator value of global velocity transmission was better; with the increase of the length of rod WE, ED and O1D, the evaluation indicator value of global angle velocity transmission was better; with the decrease of the length of rod OC, BC, DO1 and GH, the evaluation indicator value of global angle velocity transmission was better. The study provides a reference for the parameter optimization and application of the anthropopathic mechanical legs.