全向運動仿生腿運動學(xué)及動力學(xué)建模與實驗

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關(guān)鍵詞：全向運動仿生腿;串并混聯(lián)腿;多方法聯(lián)合建模方法；運動學(xué)模型;動力學(xué)模型中圖分類號：TP24DOI：10.3969/j.issn.1004-132X.2025.04.018 開放科學(xué)（資源服務(wù)）標識碼（OSID）：

Kinematics and Dynamics Modeling and Experiments of OmnilLegs

XU Yuze LU Zhongyue＊ ZHU Yiming LUO Zirong College of Intelligence Science and Technology，National University of Defense Technology， Changsha，410073

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

0 引言

腿部機構(gòu)作為足式機器人核心部件，直接決定了足式機器人的運動能力。（剩余13770字）