全向运动仿生腿运动学及动力学建模与实验

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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。（剩余13770字）