基于可重构杆件的闭链腿机构足端轨迹分析

doi:10.16731/j.cnki.1671-3133.2025.10.005

现代制造工程 ›› 2025, Vol. 541 ›› Issue (10): 47-56.doi: 10.16731/j.cnki.1671-3133.2025.10.005

基于可重构杆件的闭链腿机构足端轨迹分析

赵越^1,2, 秦建军^1,2, 李海波^1,2, 张荣^1,2, 胡依凡^1,2, 谢子健^1,2

1 北京建筑大学机电与车辆工程学院,北京 100044;
2 北京市建筑安全监测工程技术研究中心,北京 100044

收稿日期:2024-12-03 发布日期:2025-10-29
通讯作者: 秦建军,博士,教授,主要研究方向为机器人学、工程教育。E-mail:zy17860281195@163.com
作者简介:赵越,硕士研究生,主要研究方向为机器人机构学。
基金资助:
北京交通大学载运工具先进制造与测控技术教育部重点实验室开放课题基金项目;北京建筑大学研究生创新项目(PG2024139)

Foot trajectory analysis of closed-chain leg mechanism based on reconfigurable linkage

ZHAO Yue^1,2, QIN Jianjun^1,2, LI Haibo^1,2, ZHANG Rong^1,2, HU Yifan^1,2, XIE Zijian^1,2

1 School of Mechanical-Electronic and Vehicle Engineering, Beijing University of Civil Engineering and Architecture, Beijing 100044, China;
2 Beijing Engineering Research Center of Monitoring for Construction Safety, Beijing 100044, China

Received:2024-12-03 Published:2025-10-29

摘要/Abstract

摘要： 为解决闭链腿机构地形适应性不足的问题,提出了一种基于可重构杆件的闭链腿机构足端轨迹分析方法。首先,对闭链腿机构进行运动学分析,得到机构输入与输出的足端轨迹映射关系;其次,以预设的足端轨迹点作为求解目标,采用海马算法对闭链腿机构杆件进行尺寸优化;接着,以灵敏度为评价指标,分析闭链腿机构各杆长变化对足端轨迹抬腿高度的影响;最后,以支撑直线度和越障跨越度为评价指标,分析可重构杆件长度变化对足端轨迹的影响,并得到杆件最佳调节范围及对应的足端轨迹簇。基于单腿机构搭建多足机器人进行仿真,结果表明杆件可重构设计可为腿式机器人提供有效的足端轨迹,使其适用于不同的地形环境,提高其越障能力。

关键词: 闭链腿机构, 可重构设计, 海马算法, 灵敏度分析, 足端轨迹

Abstract: In order to solve the problem of insufficient terrain adaptability of the closed-chain leg mechanism,a foot trajectory analysis method of the closed-chain leg mechanism based on reconfigurable linkage was proposed. Firstly,the kinematic analysis of the closed-chain leg mechanism was carried out to obtain the mapping relationship between the input and output of the mechanism′s foot trajectory;secondly,the preset foot trajectory points were taken as the solution target,and the sea-horse algorithm was adopted to optimize the size of the closed-chain leg mechanism linkage;then,the influence of the length change of each linkage of the closed-chain leg mechanism on the foot trajectory of the leg-lifting height was analyzed with the evaluation index of the sensitivity;finally,using the support straightness and obstacle crossing degree as evaluation indexes,the influence of the length change of reconfigurable linkage on the foot trajectory was analyzed,and the optimal adjustment range of the linkage and the corresponding cluster of foot trajectories were obtained. Based on the single-leg mechanism, a multi-legged robot was built for simulation,the results show that the reconfigurable design of the linkage for the legged robot can provide an effective foot trajectory,so as to make it suitable for different terrain environments,and to improve its obstacle-surmounting capability.

Key words: closed-chain leg mechanism, reconfigurable design, sea-horse algorithm, sensitivity analysis, foot trajectory

中图分类号:

TH112

赵越, 秦建军, 李海波, 张荣, 胡依凡, 谢子健. 基于可重构杆件的闭链腿机构足端轨迹分析[J]. 现代制造工程, 2025, 541(10): 47-56.

ZHAO Yue, QIN Jianjun, LI Haibo, ZHANG Rong, HU Yifan, XIE Zijian. Foot trajectory analysis of closed-chain leg mechanism based on reconfigurable linkage[J]. Modern Manufacturing Engineering, 2025, 541(10): 47-56.

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基于可重构杆件的闭链腿机构足端轨迹分析

Foot trajectory analysis of closed-chain leg mechanism based on reconfigurable linkage

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