全向运动仿生腿运动学及动力学建模与实验

doi:10.3969/j.issn.1004-132X.2025.04.018

摘要/Abstract

摘要： 介绍了一种新型3自由度串并混联型腿部机构——全向运动仿生腿，并对该腿部机构进行数学建模。基于全向运动仿生腿的特殊构型和运动形式，提出了一种多方法联合的运动学建模方法，根据不同部分的特点分别应用旋量法和几何法进行单独运动学建模，再结合影响系数法得到整机运动学模型。所提方法可以降低从整体的角度进行建模的难度。采用拉格朗日法建立了全向运动仿生腿的动力学模型。通过仿真及样机实验验证了全向运动仿生腿理论模型的正确性。

关键词: 全向运动仿生腿, 串并混联腿, 多方法联合建模方法, 运动学模型, 动力学模型

Abstract: A 3-DOF serial-parallel leg mechanism was introduced and mathematically modelled. Based on the special configuration and motion form of the OmnilLeg, a multi-method combined kinematics modeling method was proposed by applying the rotational and geometrical methods for individual kinematics modeling according to the characteristics of different parts and then combining them with the influence coefficient method to obtain the kinematics model of the whole machine. The proposed method reduces the modeling difficulties. The dynamic models of the OmnilLeg were established by Lagrangian method. The correctness of the theoretical models of the OmnilLeg was verified by simulation and prototype experiments.

Key words: bionic leg capable of omnidirectional legged locomotion(OmnilLeg), serial-parallel leg mechanism, multi-method combined modeling method, kinematics model, dynamics model

中图分类号:

TP24

徐毓泽, 卢钟岳, 朱一鸣, 罗自荣. 全向运动仿生腿运动学及动力学建模与实验[J]. 中国机械工程, 2025, 36(04): 811-820.

XU Yuze, LU Zhongyue, ZHU Yiming, LUO Zirong. Kinematics and Dynamics Modeling and Experiments of OmnilLegs[J]. China Mechanical Engineering, 2025, 36(04): 811-820.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.04.018

https://www.cmemo.org.cn/CN/Y2025/V36/I04/811

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