中文摘要：

为合理匹配电驱动重载六足机器人关节的驱动装置和传动装置,提出一种快速、精确获得关节转速的方法.基于某一关节转动以实现机器人最大步行速度指标,建立该关节转角与机器人最大步行速度指标的数学关系式,研究螃蟹型三角步态下的髋关节和膝关节在最小摆角和最大摆角时的相应输出转速以及蚂蚁型三角步态下的跟关节输出转速,并获得跟关节转角和转速随髋、膝关节夹角的变化趋势.根据ADAMS软件和研制的机器人单腿与样机,进行关节转速的仿真验证和试验分析,分别获得机器人承载平台重心的速度曲线和关节伺服电动机脉冲数曲线.仿真和试验结果表明,机器人关节转速分析方法具有合理性和有效性,能够可靠地应用于重载多足机器人的研制.

英文摘要：

To reasonably select the drive devices and actuating devices for the joints of an electrically driven heavy-duty six-legged robot, a method for quickly obtaining the accurate articulated rotating speed is presented. Through rotating one of the joints to achieve the maximum speed index of the robot, the mathematical relationship is established between that joint and the maximum speed index of the robot. The rotating speeds of the hip joint and knee joint are researched when their rotating angles respectively have the minimum and maximum values under the crab-type tripod gait, and the rotating speed of the abductor joint is analyzed under the ant-type tripod gait. With the changes in the joint angles for the hip joint and knee joint, variable tendency charts are obtained for the rotating angle and rotating speed of the abductor joint. According to ADAMS software, the single leg, and prototype of the robot, the simulation verification and experimental analysis are respectively carried out for the articulated rotating speeds. The speed curve and pulse curves are acquired for the gravity center of the bearing platform and servomotors of the joints, respectively. The results of the simulation and experiment show that the method for analyzing the articulated rotating speeds of the robot is reasonable and valid. The proposed method can be reliably applied in developing the heavy-duty multi-legged robots.