六腿轮式快速移动机器人设计与分析
|
摘要
针对轮腿移动机器人结构复杂、控制难度大等问题,设计一种结构极为简单的轮腿融合的六腿轮式快速移动机器人。该机器人具有6条弹性腿,构成机器人的两个单侧腿结构,同轴交错分布在机器人的两侧,以轮式滚动的方式向前移动,可以有效缓冲移动时受到的冲击以及由此产生的振动。该机器人克服了独立轮式和腿式机器人的不足,既能很好地适应环境又具有很好的移动性能。对机器人进行运动学与动力学分析,运用SolidWorks建立机器人的三维实体模型,在ADAMS平台上进行运动仿真。理论分析和仿真结果表明:此设计方案是可行的,机器人可以实现快速稳定的运动。
In consideration of the complex structure and control of the wheel-legged robot currently, a kind of six-legged robot with fast wheel-rolling locomotion was presented whose structure was very simple. The robot had six compliant legs, which was divided into two groups and symmetrically distributed on both sides of the body and moved forward with wheel-rolling mode. It could effectively reduce the ground impact and vibration. This robot which combined the advantages of wheeled robot and leg robot could not only adapt well to the environment but also had good mobile performance. The kinematics and dynamics analyses of the robot were carried out, its model was established by SolidWorks, and the motion simulation was carried out based on ADAMS.The results show that the designed structure is feasible and can achieve fast and stable motion.
In consideration of the complex structure and control of the wheel-legged robot currently, a kind of six-legged robot with fast wheel-rolling locomotion was presented whose structure was very simple. The robot had six compliant legs, which was divided into two groups and symmetrically distributed on both sides of the body and moved forward with wheel-rolling mode. It could effectively reduce the ground impact and vibration. This robot which combined the advantages of wheeled robot and leg robot could not only adapt well to the environment but also had good mobile performance. The kinematics and dynamics analyses of the robot were carried out, its model was established by SolidWorks, and the motion simulation was carried out based on ADAMS.The results show that the designed structure is feasible and can achieve fast and stable motion.
引文
[1]DENG Z Q,GAO H B,HU M,et al.Design of Lunar Rover with Planetary Wheel for Surmount Obstacle[J].Journal of Harbin Institute of Technology,2003,35(2):203-209.
[2]罗洋.Rolling-Wolf轮腿式机器人设计及优化[D].重庆:重庆大学,2014.
[3]SMITH J A,SHARF I,TRENTINI M.PAW:A Hybrid Wheeled-leg Robot[C]//Proceedings of the 2006 IEEE International Conference on Robotics and Automation.Florida,2006.
[4]ESTIER T,CRANSAZ Y,MERMINOD B,et al.An Innovative Space Rover with Extended Climbing Abilities[C]//Proceedings of Space and Robotics.Albuquerque,2000.
[5]CHEN P,MITSUTAKE S,ISODA T,et al.Omni-directional Robot and Adaptive Control Method for Off-road Running[J].IEEE Transactions on Robotics & Automation,2002,18(2):251-256.
[6]KENJI H,TAKUYA H,YUSUKE S,et al.Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driving Locomotion[C]//Proceedings of the 2005 IEEE International Conference on Robotics and Automation.Barcelona,2006:2970-2975.
[7]DING X L,LI K J,XU K.Dynamics and Wheel’s Slip Ratio of a Wheel-legged Robot in Wheeled Motion Considering the Change of Height[J].Chinese Journal of Mechanical Engineering,2012,25(5):1060-1067.
[8]HUANG K J,CHEN S C,CHOU Y C,et al.Experimental Validation of a Leg-wheel Hybrid Mobile Robot Quadruped[C]//Proceedings of 2011 IEEE International Conference on Robotics and Automation,2011:9-13.
[9]KING R S.BiLBIQ:A Biologically Inspired Robot with Walking and Rolling Locomotion[M].Germany:Springer,2012.
[10]SPR?WITZ A T,AJALLOOEIAN M,TULEU A,et al.Kinematic Primitives for Walking and Trotting Gaits of a Quadruped Robot with Compliant Legs[J].Frontiers in Computational Neuroscience,2014(8):27.
[11]DICKINSON M H,FARLEY C T,FULL R J,et al.How Animals Move:An Integrative View[J].Science,2000,288(5463):100-106.
[12]HUTTER M,REMY C D,H?PFLINGER M A,et al.SLIP Running with an Articulated Robotic Leg[C]//Proceedings of International Conference on Intelligent Robots and Systems,2010:4934-4939.
[13]WENSING P M,ORIN D E.Control of Humanoid Hopping Based on a SLIP Model[M]//Advances in Mechanisms,Robotics and Design Education and Research.Springer International Publishing,2013:265-274.
[14]NEMOTO T,MOHAN R E,IWASE M.Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation[M].Hindawi Publishing Corp,2015.
[15]RUMMEL J,SEYFARTH A.Stable Running with Segmented Legs[M].Sage Publications Inc,2008.
[16]章忠良.四足机器人运动学及动力学研究[D].成都:电子科技大学,2012.
[17]POULAKAKIS I,BUEHLER M,BUEHLER M.Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait:The Scout II Robot[M].Sage Publications Inc,2005.
[18]POULAKAKIS I.On the Passive Dynamics of Quadrupedal Running[D].Montreal:McGill University,2002.
[2]罗洋.Rolling-Wolf轮腿式机器人设计及优化[D].重庆:重庆大学,2014.
[3]SMITH J A,SHARF I,TRENTINI M.PAW:A Hybrid Wheeled-leg Robot[C]//Proceedings of the 2006 IEEE International Conference on Robotics and Automation.Florida,2006.
[4]ESTIER T,CRANSAZ Y,MERMINOD B,et al.An Innovative Space Rover with Extended Climbing Abilities[C]//Proceedings of Space and Robotics.Albuquerque,2000.
[5]CHEN P,MITSUTAKE S,ISODA T,et al.Omni-directional Robot and Adaptive Control Method for Off-road Running[J].IEEE Transactions on Robotics & Automation,2002,18(2):251-256.
[6]KENJI H,TAKUYA H,YUSUKE S,et al.Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driving Locomotion[C]//Proceedings of the 2005 IEEE International Conference on Robotics and Automation.Barcelona,2006:2970-2975.
[7]DING X L,LI K J,XU K.Dynamics and Wheel’s Slip Ratio of a Wheel-legged Robot in Wheeled Motion Considering the Change of Height[J].Chinese Journal of Mechanical Engineering,2012,25(5):1060-1067.
[8]HUANG K J,CHEN S C,CHOU Y C,et al.Experimental Validation of a Leg-wheel Hybrid Mobile Robot Quadruped[C]//Proceedings of 2011 IEEE International Conference on Robotics and Automation,2011:9-13.
[9]KING R S.BiLBIQ:A Biologically Inspired Robot with Walking and Rolling Locomotion[M].Germany:Springer,2012.
[10]SPR?WITZ A T,AJALLOOEIAN M,TULEU A,et al.Kinematic Primitives for Walking and Trotting Gaits of a Quadruped Robot with Compliant Legs[J].Frontiers in Computational Neuroscience,2014(8):27.
[11]DICKINSON M H,FARLEY C T,FULL R J,et al.How Animals Move:An Integrative View[J].Science,2000,288(5463):100-106.
[12]HUTTER M,REMY C D,H?PFLINGER M A,et al.SLIP Running with an Articulated Robotic Leg[C]//Proceedings of International Conference on Intelligent Robots and Systems,2010:4934-4939.
[13]WENSING P M,ORIN D E.Control of Humanoid Hopping Based on a SLIP Model[M]//Advances in Mechanisms,Robotics and Design Education and Research.Springer International Publishing,2013:265-274.
[14]NEMOTO T,MOHAN R E,IWASE M.Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation[M].Hindawi Publishing Corp,2015.
[15]RUMMEL J,SEYFARTH A.Stable Running with Segmented Legs[M].Sage Publications Inc,2008.
[16]章忠良.四足机器人运动学及动力学研究[D].成都:电子科技大学,2012.
[17]POULAKAKIS I,BUEHLER M,BUEHLER M.Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait:The Scout II Robot[M].Sage Publications Inc,2005.
[18]POULAKAKIS I.On the Passive Dynamics of Quadrupedal Running[D].Montreal:McGill University,2002.