冗余驱动全R副四面体移动机器人
|
摘要
提出一种由全转动副(R副)构成的冗余驱动四面体移动机器人。该机器人主体由六条RRR支链以及四个顶点构件构成,安装有六台舵机,为一种整体呈现正四面体外形的四自由度冗余驱动机器人。应用螺旋理论对四面体机器人进行自由度分析。根据自由度分析规划了机器人的翻滚步态,以该步态机器人可以实现连续运动且正三角形运动轨迹可以覆盖任意目标点。建立机器人的运动模型进行运动学分析,得到了实现翻滚步态的临界条件。建立仿真模型对翻滚步态及其临界条件进行了验证。制作一台样机,验证了该四面体机器人方案设计以及运动规划的可行性,实现了预期的运动效果。结果表明,全转动副设计可提高四面体机器人实用性,且少自由度冗余驱动设计可增加机器人系统可靠性。
A kind of redundantly actuated tetrahedral mobile robot structured by pure revolute joints is proposed. The robot formed a tetrahedral structure with six RRR chains and four vertices and redundantly actuated by six actuators. The degree-of-freedom(DOF)of the robot is analyzed by using screw theory. Based on the DOF analysis, a kind of rolling locomotion is proposed and the robot can reach any target on the ground with the rolling locomotion. The critical condition that the robot can complete the rolling locomotion is obtained by analyzing the kinematics of the mechanism. The rolling locomotion and the critical condition are testified using a simulation model. A prototype is manufactured and a series of experiments are performed to verify the feasibility of the design and motion planning. The result shows that the pure revolute joint design can improve the practicability of the robot, and the redundantly actuation is beneficial to the reliability.
A kind of redundantly actuated tetrahedral mobile robot structured by pure revolute joints is proposed. The robot formed a tetrahedral structure with six RRR chains and four vertices and redundantly actuated by six actuators. The degree-of-freedom(DOF)of the robot is analyzed by using screw theory. Based on the DOF analysis, a kind of rolling locomotion is proposed and the robot can reach any target on the ground with the rolling locomotion. The critical condition that the robot can complete the rolling locomotion is obtained by analyzing the kinematics of the mechanism. The rolling locomotion and the critical condition are testified using a simulation model. A prototype is manufactured and a series of experiments are performed to verify the feasibility of the design and motion planning. The result shows that the pure revolute joint design can improve the practicability of the robot, and the redundantly actuation is beneficial to the reliability.
引文
[1]CLARK P E,RILEE M L,CURTIS S A,et al.BEES for ANTS:Space mission applications for the autonomous nanotechnology swarm[C]//Proceedings of the AIAA 1st Intelligent Systems Technical Conference,September20-22,2004,Chicago,Illinois.Reston:AIAA:2004:1-12.
[2]CURTIS S,BRANDT M,BOWERS G,et al.Tetrahedral robotics for space exploration[C]//IEEE Aerospace Conference,March 3-10,2007,Big Sky,Montana.New York:IEEE,2007:1-9.
[3]SUNSPIRAL V,AGOGINO A,ATKINSON D.Super ball bot-structures for planetary landing and exploration[EB/OL].Moffett Field:NASA Ames Research Center,2015,[2018-02-05].https://ntrs.nasa.gov/search.jsp?R=20160000577.
[4]荀致远,关永瀚,席利贺,等.空间三正交平行四边形滚动机构[J].机械工程学报,2015,51(17):15-24.XUN Zhiyuan,GUAN Yonghan,XI Lihe,et al.Three spatial-crossed parallelograms rolling mechanism[J].Journal of Mechanical Engineering,2015,51(17):15-24.
[5]田耀斌,郭一竹,刘长焕,等.单自由度概率翻转移动连杆机构[J].机械工程学报,2011,47(3):14-20.TIAN Yaobin,GUO Yizhu,LIU Changhuan,et al.Single-DOF mobile linkage with possibility orientation movements[J].Journal of Mechanical Engineering,2011,47(3):14-20.
[6]TIAN Y,WEI X,JONEJA A,et al.Design and rolling analysis of a novel deformable polyhedron robot[J].International Journal of Advanced Robotic Systems,2014,11(10):175.
[7]DING W,WU J,YAO Y.Three-dimensional construction and omni-directional rolling analysis of a novel frame-like lattice modular robot[J].Chinese Journal of Mechanical Engineering,2015,28(4):691-701.
[8]MARSH R,OGAARD K.12-TET walker using a quadrupedal walking algorithm[C]//Proceedings of the2008 International Conference on Artificial Intelligence,July 14-17,2008,Las Vegas,Nevada.CSREA Press,2008:680-685.
[9]ABRAHANTES M,NELSON L,DOORN P.Modeling and gait design of a 6-tetrahedron walker robot[C]//42nd Southeastern Symposium on System Theory,March 7-9,2010,University of Texas at Tyler,Tyler,Texas.New York:IEEE,2010:248-252.
[10]ABRAHANTES M,SILVER A,WENDT L,et al.Construction and control of a 4-tetrahedron walker robot[C]//40th Southeastern Symposium on System Theory,March 16-18,2008,University of New Orleans,New Orleans,Louisiana.New York:IEEE,2008:343-346.
[11]IZADI M,MAHJOOB M J,SOHEILYPOUR M,et al.Amotion planning for toppling-motion of a TET walker[C]//The 2nd International Conference on Computer and Automation Engineering,February 26-28,2010,Singapore,Singapore.New York:IEEE,2010,2:34-39.
[12]WANG X,WANG X,ZHANG Z,et al.Motion planning of kinematically redundant 12-tetrahedral rolling robot[J].International Journal of Advanced Robotic Systems,2016,13(1):23.
[13]LIU R,YAO Y A,DING W,et al.Locomotion optimization and manipulation planning of a tetrahedron-based mobile mechanism with binary control[J].Chinese Journal of Mechanical Engineering,2018,31(1):11.
[14]STOY K,LYDER A,GARCIA R F M,et al.Hierarchical robots[C]//Proceedings of the IROS Workshop on Self-Reconfigurable Modular Robots,2007,San Diego,California.
[15]LYDER A,GARCIA R F M,STOY K.Mechanical design of odin,an extendable heterogeneous deformable modular robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,September 22-26,2008,Acropolis Convention Center,Nice,France.New York:IEEE,2008:883-888.
[16]张利格,毕树生,彭朝琴.空间四面体翻滚机器人运动学分析及仿真实验[J].北京航空航天大学学报,2011,37(4):415-420.ZHANG Lige,BI Shusheng,PENG Zhaoqin.Motion analysis and simulation of tetrahedral rolling robot[J].Journal of Beijing University of Aeronautics and Astronautics,2011,37(4):415-420.
[17]LEE C C,YAN H S.Movable spatial 6R mechanisms with three adjacent parallel axes[J].Journal of Mechanical Design,1993,115(3):522-529.
[2]CURTIS S,BRANDT M,BOWERS G,et al.Tetrahedral robotics for space exploration[C]//IEEE Aerospace Conference,March 3-10,2007,Big Sky,Montana.New York:IEEE,2007:1-9.
[3]SUNSPIRAL V,AGOGINO A,ATKINSON D.Super ball bot-structures for planetary landing and exploration[EB/OL].Moffett Field:NASA Ames Research Center,2015,[2018-02-05].https://ntrs.nasa.gov/search.jsp?R=20160000577.
[4]荀致远,关永瀚,席利贺,等.空间三正交平行四边形滚动机构[J].机械工程学报,2015,51(17):15-24.XUN Zhiyuan,GUAN Yonghan,XI Lihe,et al.Three spatial-crossed parallelograms rolling mechanism[J].Journal of Mechanical Engineering,2015,51(17):15-24.
[5]田耀斌,郭一竹,刘长焕,等.单自由度概率翻转移动连杆机构[J].机械工程学报,2011,47(3):14-20.TIAN Yaobin,GUO Yizhu,LIU Changhuan,et al.Single-DOF mobile linkage with possibility orientation movements[J].Journal of Mechanical Engineering,2011,47(3):14-20.
[6]TIAN Y,WEI X,JONEJA A,et al.Design and rolling analysis of a novel deformable polyhedron robot[J].International Journal of Advanced Robotic Systems,2014,11(10):175.
[7]DING W,WU J,YAO Y.Three-dimensional construction and omni-directional rolling analysis of a novel frame-like lattice modular robot[J].Chinese Journal of Mechanical Engineering,2015,28(4):691-701.
[8]MARSH R,OGAARD K.12-TET walker using a quadrupedal walking algorithm[C]//Proceedings of the2008 International Conference on Artificial Intelligence,July 14-17,2008,Las Vegas,Nevada.CSREA Press,2008:680-685.
[9]ABRAHANTES M,NELSON L,DOORN P.Modeling and gait design of a 6-tetrahedron walker robot[C]//42nd Southeastern Symposium on System Theory,March 7-9,2010,University of Texas at Tyler,Tyler,Texas.New York:IEEE,2010:248-252.
[10]ABRAHANTES M,SILVER A,WENDT L,et al.Construction and control of a 4-tetrahedron walker robot[C]//40th Southeastern Symposium on System Theory,March 16-18,2008,University of New Orleans,New Orleans,Louisiana.New York:IEEE,2008:343-346.
[11]IZADI M,MAHJOOB M J,SOHEILYPOUR M,et al.Amotion planning for toppling-motion of a TET walker[C]//The 2nd International Conference on Computer and Automation Engineering,February 26-28,2010,Singapore,Singapore.New York:IEEE,2010,2:34-39.
[12]WANG X,WANG X,ZHANG Z,et al.Motion planning of kinematically redundant 12-tetrahedral rolling robot[J].International Journal of Advanced Robotic Systems,2016,13(1):23.
[13]LIU R,YAO Y A,DING W,et al.Locomotion optimization and manipulation planning of a tetrahedron-based mobile mechanism with binary control[J].Chinese Journal of Mechanical Engineering,2018,31(1):11.
[14]STOY K,LYDER A,GARCIA R F M,et al.Hierarchical robots[C]//Proceedings of the IROS Workshop on Self-Reconfigurable Modular Robots,2007,San Diego,California.
[15]LYDER A,GARCIA R F M,STOY K.Mechanical design of odin,an extendable heterogeneous deformable modular robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,September 22-26,2008,Acropolis Convention Center,Nice,France.New York:IEEE,2008:883-888.
[16]张利格,毕树生,彭朝琴.空间四面体翻滚机器人运动学分析及仿真实验[J].北京航空航天大学学报,2011,37(4):415-420.ZHANG Lige,BI Shusheng,PENG Zhaoqin.Motion analysis and simulation of tetrahedral rolling robot[J].Journal of Beijing University of Aeronautics and Astronautics,2011,37(4):415-420.
[17]LEE C C,YAN H S.Movable spatial 6R mechanisms with three adjacent parallel axes[J].Journal of Mechanical Design,1993,115(3):522-529.