关键词：全向运动仿生腿;串并混联腿;多方法联合建模方法；运动学模型;动力学模型中图分类号：TP24DOI：10.3969/j.issn.1004-132X.2025.04.018 开放科学（资源服务）标识码（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

腿部机构作为足式机器人核心部件，直接决定了足式机器人的运动能力。串并混联型腿部机构兼具串联和并联机构优势，串联部分使机构具备灵活性好等优点，并联部分则可以保障机构具有一定的刚性和承载能力[1]

研究人员对串并混联腿机构进行了大量研究。NIU等[2]提出了一种由 2-UPS+U 并联机构与1R副组成的3自由度串并混联腿，提高了腿部的刚度。谢兵[3]提出了一种适用于轮足机器人的由2自由度 RUHU+RUPR+UPR+RUR 并联机构和1R副组成的串并混联腿。GAO等[4]提出了一种 （3-RRR）+1R 串并混联腿，降低了远端转动惯量。FELLER5提出了4自由度串并混联腿，腿部具备更高的集成度。王春臻等[6]提出了 1R+（2-UPU+2-RPR） 串并混联腿，在少驱动的情况下实现了“ 3+3 ”式行走。顾昌利等[7]提出了 2-PSS-PaU 串并混联腿，有效实现了驱动的集中。董晋安[8提出了 （5-UPU）+R 串并混联腿，具备更好的转向性能。此外还有很多具备各种不同优势的串并混联腿[9-10]

串并混联型腿部机构构型的多样性也使腿部机构更易实现多种功能集成。文献[11提出了一款新型3自由度串并混联型腿部机构——全向运动仿生腿（bionic leg capable of omnidirectionalleggedlocomotion，OmnilLeg），它具有驱动固定集中、足端无伴随转动及全向运动三项特性。全向运动仿生腿的大腿为双驱耦合机构且内嵌小腿动力传递机构，小腿为单驱闭环机构，理论建模较为困难。现有运动学建模方法有很多，包括D-H参数法、矢量法、几何法、影响系数法和旋量法等[12-14]。……