一种新型弹性足式机器人腿部结构设计与分析
|
摘要
提出了一种新型弹性足式机器人腿部结构设计方法。设计了一种结构简单、响应速度快、抗冲击性强的新型足式机器人腿LCS-Leg(Linkage cable-drive spring leg)。该机器人腿采用弹性连杆机构和线驱动系统,有效降低了腿部惯量和着地冲击力,提高了机器腿的响应速度和减振抗冲能力。使用复数矢量法和D-H方法建立该机器腿运动学模型,基于此模型求解足端运动工作空间,分析了LCS-Leg的越障能力。设计单腿仿真试验平台,对两种不同结构的机器腿进行仿真,对比两者的质心高度、前进速度和足端接触力,验证了所设计机器腿的运动性能。试制弹性足式机器人腿及其试验平台,通过实物样机单腿行走试验,验证了设计方法的有效性,并完成了四足机器人整体结构设计。
A novel method of elastic robot leg hybrid design was proposed. A new kind of robot leg called LCS(Linkage cable-drive spring) leg was presented,whose structure is simple but possesses excellent motion performance and strong impact resistance ability. The LCS leg was designed by adopting an elastic linkage and cable-drive system,which improves the leg' s reaction rate and vibration impact resistance performance. The kinematic model of the leg was built based on the complex vector and Denavit-Hartenberg method; then the motion envelope domains were solved to verify the leg's obstacle overcoming performance. A single leg simulation platform was designed. The simulation of two kinds of robotic legs were carried out on the platform, and the Co M displacement of body,forward velocity and impact force were tested and analyzed to prove the motion performance.Through making the single leg walking experiments on the platform,the validity of the design method is verified,and the overall structural design of LCS robotic leg was carried out.
A novel method of elastic robot leg hybrid design was proposed. A new kind of robot leg called LCS(Linkage cable-drive spring) leg was presented,whose structure is simple but possesses excellent motion performance and strong impact resistance ability. The LCS leg was designed by adopting an elastic linkage and cable-drive system,which improves the leg' s reaction rate and vibration impact resistance performance. The kinematic model of the leg was built based on the complex vector and Denavit-Hartenberg method; then the motion envelope domains were solved to verify the leg's obstacle overcoming performance. A single leg simulation platform was designed. The simulation of two kinds of robotic legs were carried out on the platform, and the Co M displacement of body,forward velocity and impact force were tested and analyzed to prove the motion performance.Through making the single leg walking experiments on the platform,the validity of the design method is verified,and the overall structural design of LCS robotic leg was carried out.
引文
[1]Siciliano B,Khatib O.Springer handbook of robotics[M].Berlin:Springer,2008:361-389
[2]Arvind A,Mojtaba A,Sangbae K.Towards a bio-inspired leg design for high-speed running[J].Bioinspiration&Biomimetics,2012,7(4):46005
[3]Seok S,Wang A,Michael Chuah M Y,et al.Design principles for energy-efficient legged locomotion and implementation on the MIT Cheetah robot[J].IEEE/ASME Transactions on Mechatronics,2015,20(3):1117-1129
[4]Renjewski D,Spr9witz A,Peekema A,et al.Exciting engineered passive dynamics in a bipedal robot[J].IEEE Transactions on Robotics,2015,31(5):1244-1251
[5]Grimes J A,Hurst J W.The design of atrias 1.0 a unique monopod,hopping robot[M]//Proceedings of the Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines.Baltimore,MD,USA:CLAWAR,2012:538-544
[6]Spenko M J,Haynes G C,Saunders J A,et al.Biologically inspired climbing with a hexapedal robot[J].Journal of Field Robot,2008,25(4-5):223-242
[7]Autumn K,Buehler M,Cutkosky M,et al.Robotics in scansorial environments[C]//Proceedings of the SPIE,Bellingham,WA:SPIE,2005,5804:291-302
[8]Haynes G C,Khripin A,Lynch G,et al.Rapid pole climbing with a quadrupedal robot[C]//IEEE International Conference on Robotics and Automation.Kobe,Japan:IEEE Press,2009:4110-4115
[9]罗洋,李奇敏,温皓宇.一种新型轮腿式机器人设计与分析[J].中国机械工程,2013,24(22):3018-3023Luo Y,Li Q M,Wen H Y.Design and analysis of a new kind of wheel-legged rover[J].China Mechanical Engineering,2013,24(22):3018-3023(in Chinese)
[10]Hurst J W,Chestnutt J E,Rizzi A A.Design and Philosophy of the Bi MASC,a Highly Dynamic Biped[C]//Proceedings 2007 IEEE International Conference on Robotics and Automation.Roma,Italy:IEEE,2010:1863-1868
[11]Pratt G A.Legged robots at MIT:What's new since Raibert?[J].IEEE Robotics&Automation Magazine,2000,7(3):15-19
[12]Norton R L.Design of machinery:An introduction to the synthesis and analysis of mechanisms and machines[M].New York:Mc Graw Hill,2004:96
[13]Craig J J.Introduction to robotics:Mechanics and control[M].New Jersey:Addison-Wesley Publication Company,2010:135-159
[14]张秀丽.四足机器人节律运动及环境适应性的生物控制研究[D].北京:清华大学,2004Zhang X L.Biological-inspired rhythmic motion&environmental adaptability for quadruped robot[D].Beijing:Tsinghua University,2004(in Chinese)
[15]王立鹏,王军政,汪首坤,等.基于足端轨迹规划算法的液压四足机器人步态控制策略[J].机械工程学报,2013,49(1):39-44Wang L P,Wang J Z,Wang S K,et al.Strategy of foot trajectory generation for hydraulic quadruped robots gait planning[J].Journal of Mechanical Engineering,2013,49(1):39-44(in Chinese)
[2]Arvind A,Mojtaba A,Sangbae K.Towards a bio-inspired leg design for high-speed running[J].Bioinspiration&Biomimetics,2012,7(4):46005
[3]Seok S,Wang A,Michael Chuah M Y,et al.Design principles for energy-efficient legged locomotion and implementation on the MIT Cheetah robot[J].IEEE/ASME Transactions on Mechatronics,2015,20(3):1117-1129
[4]Renjewski D,Spr9witz A,Peekema A,et al.Exciting engineered passive dynamics in a bipedal robot[J].IEEE Transactions on Robotics,2015,31(5):1244-1251
[5]Grimes J A,Hurst J W.The design of atrias 1.0 a unique monopod,hopping robot[M]//Proceedings of the Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines.Baltimore,MD,USA:CLAWAR,2012:538-544
[6]Spenko M J,Haynes G C,Saunders J A,et al.Biologically inspired climbing with a hexapedal robot[J].Journal of Field Robot,2008,25(4-5):223-242
[7]Autumn K,Buehler M,Cutkosky M,et al.Robotics in scansorial environments[C]//Proceedings of the SPIE,Bellingham,WA:SPIE,2005,5804:291-302
[8]Haynes G C,Khripin A,Lynch G,et al.Rapid pole climbing with a quadrupedal robot[C]//IEEE International Conference on Robotics and Automation.Kobe,Japan:IEEE Press,2009:4110-4115
[9]罗洋,李奇敏,温皓宇.一种新型轮腿式机器人设计与分析[J].中国机械工程,2013,24(22):3018-3023Luo Y,Li Q M,Wen H Y.Design and analysis of a new kind of wheel-legged rover[J].China Mechanical Engineering,2013,24(22):3018-3023(in Chinese)
[10]Hurst J W,Chestnutt J E,Rizzi A A.Design and Philosophy of the Bi MASC,a Highly Dynamic Biped[C]//Proceedings 2007 IEEE International Conference on Robotics and Automation.Roma,Italy:IEEE,2010:1863-1868
[11]Pratt G A.Legged robots at MIT:What's new since Raibert?[J].IEEE Robotics&Automation Magazine,2000,7(3):15-19
[12]Norton R L.Design of machinery:An introduction to the synthesis and analysis of mechanisms and machines[M].New York:Mc Graw Hill,2004:96
[13]Craig J J.Introduction to robotics:Mechanics and control[M].New Jersey:Addison-Wesley Publication Company,2010:135-159
[14]张秀丽.四足机器人节律运动及环境适应性的生物控制研究[D].北京:清华大学,2004Zhang X L.Biological-inspired rhythmic motion&environmental adaptability for quadruped robot[D].Beijing:Tsinghua University,2004(in Chinese)
[15]王立鹏,王军政,汪首坤,等.基于足端轨迹规划算法的液压四足机器人步态控制策略[J].机械工程学报,2013,49(1):39-44Wang L P,Wang J Z,Wang S K,et al.Strategy of foot trajectory generation for hydraulic quadruped robots gait planning[J].Journal of Mechanical Engineering,2013,49(1):39-44(in Chinese)