双足机器人腿部新构型设计与试验研究

doi:10.3901/JME.2023.01.103

机械工程学报 ›› 2023, Vol. 59 ›› Issue (1): 103-112.doi: 10.3901/JME.2023.01.103

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双足机器人腿部新构型设计与试验研究

石照耀¹, 丁宏钰^1,2,3, 汪文广³, 刘益彰³, 胡毅森³, 鞠笑竹³, 张攀¹

1. 北京工业大学北京市精密测控技术与仪器工程技术研究中心北京 100124;
2. 广东海洋大学机械与能源工程学院阳江 524088;
3. 深圳市优必选科技股份有限公司深圳研究院深圳 528035

收稿日期:2021-12-27 修回日期:2022-10-15 出版日期:2023-01-05 发布日期:2023-03-30
通讯作者: 石照耀(通信作者),男,1964年出生,博士,教授,博士研究生导师。主要研究方向为齿轮工程、精密减速器和精密测试技术及仪器。E-mail:shizhaoyao@bjut.edu.cn
作者简介:丁宏钰,男,1979年出生,博士研究生。主要研究方向为齿轮工程、机器人及驱动器。E-mail:hyding2004@163.com
基金资助:
北京市教委-北京市基金联合资助项目（KZ201910005005）。

Design and Experimental Research on the Novel Leg Configuration of Bipedal Robot

SHI Zhaoyao¹, DING Hongyu^1,2,3, WANG Wenguang³, LIU Yizhang³, HU Yisen³, JU Xiaozhu³, ZHANG Pan¹

1. Beijing Engineering Research Center of Precision Measurement Technology and Instruments, Beijing University of Technology, Beijing 100124;
2. School of Mechanical and Energy Engineering, Guangdong Ocean University, Yangjiang 524088;
3. Shenzhen Research Institute, UBTECH Robotics, Inc., Shenzhen 528035

Received:2021-12-27 Revised:2022-10-15 Online:2023-01-05 Published:2023-03-30

摘要/Abstract

摘要： 探究高动态性能双足机器人对腿部设计的要求，阐明机器人腿部设计准则、设计方案和实现措施。提出一种腿部串并联新构型方案，膝关节驱动器上移到髋关节，踝关节驱动器上移到膝关节，膝关节驱动器通过简化五连杆机构将运动传递到膝部，踝关节驱动器通过并联四连杆机构将运动传递到踝部。对踝关节并联机构和整个腿部关节进行运动学正逆解，建立新构型机器人的仿真模型。考虑运动控制算法，完成机器人动力学仿真。测试准直驱驱动器性能，并完成串并联构型腿部样机试验验证，机器人可实现0.4 m/s的行走速度。结果表明，提出的腿部串并联新构型与传统串联构型比具有更高的运动性能，新构型机器人性能在真机测试中得到验证。该串并联新构型方案在双足机器人和其它服务机器人领域具有广阔的应用前景。

关键词: 双足机器人, 腿部, 驱动器, 串并联构型, 转动惯量

Abstract: The design requirements for leg design of biped robots with high dynamic performance is investigated, the design criteria, design schemes and implementation of the robot leg are obtained. A novel series-parallel configuration of the robot legs is proposed, the actuator of knee joint moves up to the hip joint, the actuator of ankle joint moves up to the knee joint, the motion of knee joint actuator transmit to the knee through a simplified five-link mechanism, and the motion of ankle joint actuator through parallel four linkage mechanism transmit to the ankles. The kinematics forward and inverse solution of the ankle joint and the entire leg joint are carried out, and a simulation model of the new configuration robot is established. Considering the motion control algorithm, the robot dynamics simulation is completed. The performance of the quasi-direct drive actuator is tested, the experimental verification of the series-parallel configuration of the leg prototype is completed. The robot achieves a walking speed of 0.4 m/s. The results indicate that the proposed new series-parallel configuration of the robot leg has better motion performance than the traditional series configuration one, the performance of the new configuration of the robot is verified n the real machine experiment. The new serial-parallel configuration scheme has broad application prospects in the field of biped robots and other service robots.

Key words: biped robot, legs, actuator, aeries-parallel configuration, moment of inertia

中图分类号:

TG156

石照耀, 丁宏钰, 汪文广, 刘益彰, 胡毅森, 鞠笑竹, 张攀. 双足机器人腿部新构型设计与试验研究[J]. 机械工程学报, 2023, 59(1): 103-112.

SHI Zhaoyao, DING Hongyu, WANG Wenguang, LIU Yizhang, HU Yisen, JU Xiaozhu, ZHANG Pan. Design and Experimental Research on the Novel Leg Configuration of Bipedal Robot[J]. Journal of Mechanical Engineering, 2023, 59(1): 103-112.

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双足机器人腿部新构型设计与试验研究

Design and Experimental Research on the Novel Leg Configuration of Bipedal Robot

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