四足步行机的对角小跑步态及能耗仿真分析

步行机需自身携带能量如电池实现步行及探测任务,研究其能量消耗有重要的意义.步行机的行走步态与能量消耗密切相关,采用对角小跑步态,分析能量消耗与相关影响参数间的关系.介绍了四足步行机的对角小跑步态及多链串并联复合机构的特点,建立步行机的运动学方程及拉格朗日动力学方程.采用虚拟样机技术建立系统的考虑足与地面接触的三维仿真模型,进行完整对角小跑步态周期中的能量消耗分析,获得步行机的动态特性.以移动能耗率为评价指标,分别仿真分析3种步距及3种接触材料的能量消耗,研究步距、接触刚度和摩擦系数对步行机能量消耗的影响,建立移动能耗率与步行机步行速度间的关系曲线,为物理样机的设计提供依据.

Trot gait and energy consumption simulation of a quadruped robot

Walking robot carries its own energy source such as battery to walk and finish exploring task, so the research of energy consumption is of great significance. The gait of walking robot has close relationship with energy consumption. Trot gait was adopted to analyze the relationship between energy consumption and relevant influence factors. The characteristics of trot gait and multi-loop serial and parallel mechanism were presented, and Denavit-Hartenberg coordinate method was adopted to express the kinematics equation and Lagrange dynamics equation of quadruped walking robot, then the virtual prototyping technology was used to establish the 3D simulation model considering contact between foots and ground, by which the energy consumption analysis of whole gait cycle and dynamic characteristics were calculated. By using the rate of energy consumption to evaluate energy efficiency of walking robot, the energy consumption during walking was analyzed with different walking stroke and different contact material, and the relationship between the rate of energy consumption and walking velocity was presented. The results can provide basis for the design of the physical prototyping.