Kinematics analysis and optimization of rotary multi-legged bionic robot

doi:10.3785/j.issn.1006-754X.2022.00.041

Chin J Eng Design

2022, Vol. 29

Issue (3): 327-338 DOI: 10.3785/j.issn.1006-754X.2022.00.041

Optimization Design

Kinematics analysis and optimization of rotary multi-legged bionic robot

Chun-yan ZHANG¹(

),Bing DING¹,Zhi-qiang HE²,Jie YANG¹

^1.School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201600, China
^2.Xiamen ABB Switchgear Co. , Ltd. , Xiamen 361000, China

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Abstract

In order to solve the problems of complex control system and difficult machining and assembly of multi-legged robots, a rotary multi-legged bionic robot based on the single-degree-of-freedom Jansen linkage mechanism was designed, and its kinematics analysis and optimization were carried out. Firstly, the degree of freedom of the single bionic mechanical leg of robot was verified by the screw theory, and the kinematics of the bionic mechanical leg was solved by using the complex vector method, so as to obtain the motion trajectory equation of the foot end and the rotation angle of each joint. Then, based on the motion trajectory of the bionic mechanical leg foot end and its influencing factors, the optimization direction was analyzed. And then, a rotary transmission mechanism was proposed and the rotation joint and foot end of the bionic mechanical leg were optimized, at the same time, the gait of the rotary multi-legged bionic robot was analyzed by using the SolidWorks software. Finally, the rotary multi-legged bionic robot prototype was made and its movement ability under normal road conditions was analyzed to verify its feasibility. The results showed that changing the crank length and the horizontal inclination angle of frame could optimize the motion trajectory of the multi-legged bionic robot, which made it more suitable for practical applications; the superposition of the rotary transmission mechanism and multiple bionic mechanical legs could improve the environmental adaptability of the robot. The research results provide an important theoretical basis for the design and engineering application of the follow-up robot system.

Key words： multi-legged bionic robot screw theory kinematics analysis gait optimization structure optimization

Received: 18 August 2021 Published: 05 July 2022

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Cite this article:

Chun-yan ZHANG,Bing DING,Zhi-qiang HE,Jie YANG. Kinematics analysis and optimization of rotary multi-legged bionic robot. Chin J Eng Design, 2022, 29(3): 327-338.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2022.00.041 OR https://www.zjujournals.com/gcsjxb/Y2022/V29/I3/327

转盘式多足仿生机器人的运动学分析及优化

为解决多足机器人控制系统复杂、加工装配困难的问题，设计了一种基于单自由度Jansen连杆机构的转盘式多足仿生机器人，并对其进行运动学分析和优化。首先，运用旋量理论对机器人的单条仿生机械腿进行自由度验证，并运用复数矢量法对仿生机械腿进行运动学求解，得到其足端运动轨迹方程及各关节的转动角度。然后，基于仿生机械腿足端的运动轨迹及其影响因素，分析了其优化方向。接着，提出了转盘式传动机构，并对仿生机械腿的转动关节和足端进行了优化，同时利用SolidWorks软件对转盘式多足仿生机器人的步态进行了时序分析。最后，制作了转盘式多足仿生机器人样机并分析了其在常规路况下的运动能力，验证了其可行性。结果表明，改变曲柄长度和机架水平倾角可优化多足仿生机器人的运动轨迹，使其更符合实际应用所需；转盘式传动机构与多条仿生机械腿的叠加，提升了机器人的环境适应性。研究结果为后续机器人系统的设计及工程应用提供了重要的理论依据。

关键词： 多足仿生机器人, 旋量理论, 运动学分析, 步态优化, 结构优化

Fig.1 Mechanism principle of bionic mechanical leg

Fig.2 Motion screw diagram of each joint of bionic mechanical leg mechanism

Fig.3 Schematic diagram of disassembly of rod group of bionic mechanical leg mechanism

Table 1 Definition of length of each connecting rod of bionic mechanical leg mechanism

Fig.4 Position diagram of class-II rod group AB-BO₂C in fixed coordinate system

Fig.5 Position diagram of class-II rod group AD-DO₂ in fixed coordinate system

Fig.6 Position diagram of class-II rod group CE-EDF in fixed coordinate system

Table 2 Preset length of each connecting rod of bionic mechanical leg mechanism

Fig.7 Three-dimensional model of bionic mechanical leg

Fig.8 Motion trajectory of each key part of bionic mechanical leg

Fig.9 Comparison of foot end position of bionic mechanical leg with different angle between crank and frame

Fig.10 Comparison of motion trajectories of bionic mechanical leg foot end

Fig.11 Changes of foot end motion trajectory of bionic mechanical leg under different crank lengths

Fig.12 Changes of foot end motion trajectory of bionic mechanical leg under different horizontal inclination angles of frame

Table 3 Technical index requirements of rotary multi-legged bionic robot

Fig.13 Structure diagram of rotary transmission mechanism

Fig.14 Schematic diagram of transmission shaft distribution of rotary disc with different pairs of feet combined

Fig.15 Structure diagram of rotation joint of bionic mechanical leg

Fig.16 Structure diagram of adaptive foot end

Fig. 17 Overall structure diagram of rotary multi-legged bionic robot

Fig.18 Gait diagram of rotary multi-legged bionic robot

Fig.19 Gait sequence diagram of rotary multi-legged bionic robot

Fig.20 Schematic diagram of rotary multi-legged bionic robot climbing

Fig. 21 Schematic diagram of rotary multi-legged bionic robot climbing step

Fig.22 Schematic diagram of rotary multi-legged bionic robot crossing trench

Fig.23 Prototype of rotary multi-legged bionic robot

Table 4 Parameters of rotary multi-legged bionic robot prototype

Fig.24 Experiment site of straight ahead and steering of rotary multi-legged bionic robot on flat ground

Fig.25 Climbing experiment site of rotary multi-legged bionic robot

Fig.26 Experiment site of rotary multi-legged bionic robot walking on complex road


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