基于火星复杂环境的仿生六足机器人设计及运动学建模

Design and Kinematic Modeling of Bionic Hexapod Robot Based on the Complex Environment of Mars

摘要: 针对火星表面复杂、崎岖的地形环境，为提高探测机器人的地形适应性与运动稳定性，本文设计了一款基于蚂蚁仿生学原理的六足机器人，并进行了系统的运动学建模与步态规划研究。首先，通过对蚂蚁生理结构的分析，提取其腿部比例与躯体布局特征，设计了具有三自由度串联关节的腿部机构，采用Roll-Pitch-Pitch关节布局与曲柄摇杆传动形式，实现轻量化、低惯量的机械结构。其次，建立了基于D-H参数法的运动学模型，完成正逆运动学求解，为足端轨迹控制提供理论依据。在此基础上，采用多项式插值方法进行足端轨迹规划，设置速度、加速度约束以实现运动过程的平稳性，并通过Matlab仿真验证了轨迹的可行性与合理性。实验与仿真结果表明，该仿生六足机器人结构设计合理，运动学模型准确，足端轨迹平滑，具备在火星类复杂环境中稳定移动的潜力，为后续动力学分析、步态优化及实际环境应用奠定了理论与技术基础。

Abstract: In view of the complex and rugged terrain environment on the surface of Mars, to improve the terrain adaptability and motion stability of the exploration robot, this paper designs a six-legged robot based on the bionic principle of ants and conducts systematic kinematic modeling and gait planning research. Firstly, by analyzing the physiological structure of ants, the leg proportion and body layout characteristics are extracted, and a leg mechanism with a three-degree-of-freedom serial joint is designed. The Roll-Pitch-Pitch joint layout and crank-rocker transmission form are adopted to achieve a lightweight and low-inertia mechanical structure. Secondly, a kinematic model based on the D-H parameter method is established, and the forward and inverse kinematics solutions are completed, providing a theoretical basis for the control of the foot-end trajectory. On this basis, the polynomial interpolation method is used for foot-end trajectory planning, and speed and acceleration constraints are set to achieve the smoothness of the motion process. The feasibility and rationality of the trajectory are verified through Matlab simulation. Experimental and simulation results show that the bionic six-legged robot has a reasonable structure design, accurate kinematic model, and smooth foot-end trajectory, and has the potential to move stably in complex environments similar to Mars, laying a theoretical and technical foundation for subsequent dynamic analysis, gait optimization, and practical environmental applications.