一种平面闭链腿式机构的尺度参数优化设计

doi:10.3969/j.issn.1004-132X.2022.11.001

中国机械工程 ›› 2022, Vol. 33 ›› Issue (11): 1261-1268.DOI: 10.3969/j.issn.1004-132X.2022.11.001

一种平面闭链腿式机构的尺度参数优化设计

王仙业;刘海涛;黄田

天津大学机构理论与装备设计教育部重点实验室，天津，300354

出版日期:2022-06-10 发布日期:2022-06-14
通讯作者: 刘海涛（通信作者），男，1981年生，教授、博士研究生导师。研究方向为机构学、机器人学。E-mail:liuht@tju.edu.cn。
作者简介:王仙业，男，1997年生，硕士研究生。研究方向为机构设计、移动机器人、视觉伺服控制。E-mail:2019201053@tju.edu.cn。
基金资助:
国家自然科学基金（51721003,91948301）

Dimensional Parameter Optimization of Planar Closed-loop Legged Mechanisms

WANG Xianye;LIU Haitao;HUANG Tian

Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin,300354

Online:2022-06-10 Published:2022-06-14

摘要/Abstract

摘要： 以Theo Jansen机构输出的足端轨迹为目标，对一种新型平面闭链腿式机构的尺度参数进行优化。利用基本杆组法建立了该新型机构的运动学模型，根据新型机构和Theo Jansen机构的结构特点，利用曲柄摇杆机构的极限位置条件，将设计变量数目减少为一个；以两机构的足端轨迹偏差最小为目标，以各尺度参数间的几何关系为约束，建立了单目标优化问题，并利用一维搜索法得到优化结果。在此基础上，设计了一种八足移动机器人并搭建实验样机，验证了设计结果的可行性。

关键词: 腿式机器人, 平面闭链腿式机构, Theo Jansen机构, 尺度参数优化

Abstract: Aiming at the foot trajectory outputs by Theo Jansens linkages, the dimensional parameters of a novel planar closed-loop legged mechanism were optimized. The kinematic models of the mechanism were derived using the Assur groups methods. According to the structural characteristics, the number of design variables was reduced to one by using the position limitation of a crank-rocker mechanism. A single-objective optimization problem was established by minimizing the minimal deviation of the foot trajectories of two mechanisms subjected to the geometric constraints of the dimensional parameters. This problem was solved by the one-dimensional search method, leading to the design and fabrication of an eight-leg mobile robot. The feasibility of the design was verified by experimental results.

Key words: legged robot, planar closed-loop legged mechanism, Theo Jansens linkage, dimensional parameter optimization

中图分类号:

TH112.1

王仙业, 刘海涛, 黄田. 一种平面闭链腿式机构的尺度参数优化设计[J]. 中国机械工程, 2022, 33(11): 1261-1268.

WANG Xianye, LIU Haitao, HUANG Tian. Dimensional Parameter Optimization of Planar Closed-loop Legged Mechanisms[J]. China Mechanical Engineering, 2022, 33(11): 1261-1268.

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http://www.cmemo.org.cn/CN/Y2022/V33/I11/1261

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一种平面闭链腿式机构的尺度参数优化设计

Dimensional Parameter Optimization of Planar Closed-loop Legged Mechanisms

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