王良文　李群涛　王新杰　过金超　王才东

摘要：爬行类四足仿生机器人具有冗余驱动的特征，其正运动学分析位移过程十分困难.基于四足步行机器人构型爬行类四足仿生机器人数字化模型的建模技术为：通过数字模型，驱动机器人的尺寸与主动关节角度，使机器人运动到相应位置.在确定了机器人模型的位置和姿态后，进行草图绘制建立坐标系.利用SolidWorks中的测量函数，进行参数的测定，结合齐次变化矩阵，可以获得机器人位置和姿态的解.该方法用于机器人的运动学分析时，不需要进行详细的运动学公式的推导，只需要明确机器人各个零部件之间的约束关系，确定主动约束和被动约束即可.该方法的思想可以广泛应用于具有冗余驱动的机构运动分析中.

Abstract：Because of redundant driving characteristics of the reptile＼|like quadruped bionic robot， displacement analysis process of forward kinematics was very difficult.The modeling technology of digital model for the reptile＼|like quadruped bionic robot base on the quadruped bionic robot configuration was as follows： frame size and active driving angle were driven by parameterized model，to make the robot move to the corresponding position.The coordinate system was built in preliminary sketch after the position and posture of robot were confirmed.The parameters were measured by SolidWorks measuring functions and then the position and posture result of robot were obtained through combining homogeneous matrices.When the method was applied to analyze kinematics of robot， rather than the derivation of detailed kinematics formula， only the active constraint and passive constraint relationship among the parts of robot was required.The idea of the method could be used widely for kinematics analysis of redundant driving structure.

0引言

多足步行机器人能够在复杂的非结构环境中稳定地行走，一直是机器人研究领域的热点之一[1-3].

多足步行机器人的运动学分析是进行机器人动力学研究、实施机器人空间测算定位、开展机器人运动误差分析与补偿等的基础.爬行类四足仿生机器人是典型的并联机器人，对其进行正运动学分析时，由于其具有冗余驱动的特点，采用解析法建立的运动分析方程，与Stewart平台机构正解分析类似[4-7]，最终导致单变量的16次多项式方程的求解.而单变量的16次多项式方程，其推导相当复杂，需使用变量代换和Bezout方法，高效地求解此方程更为棘手.在求解过程中遇到了方程高……