松软介质中弧形足运动特性分析及足—蹼复合推进两栖机器人研究
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摘要
水陆两栖机器人凭借其既能在陆地推进,又能在水中巡游的特性,能够完成许多陆地或水中单一推进方式的移动机器人所无法完成的两栖任务,例如地质灾害排险救援、农田病虫害状态监测、水陆两栖战场侦察通信等复杂环境下的作业,因此被全世界越来越多的研究人员所关注。目前对于水陆两栖机器人的研究工作大多集中在复合推进机构设计、简单水陆单一环境下的推进性能实验研究等方面,而对于影响水陆两栖机器人走向实用化的机器人推进机构在水陆过渡环境松软介质(如不同含水量的沙质或泥质介质)中的运动特性研究却很少涉及。此外,能够适应水、陆、过渡环境松软介质的合理而有效的两栖复合推进技术也亟待创新,只有了解了推进机构与水陆过渡环境松软介质之间的相互作用规律,建立行之有效的两栖推进方案,才能为将来能够真正服务于人类生产生活的水陆两栖机器人系统提供理论基础和设计准则。因此本研究具有重要的价值和意义。
本论文以兼顾轮式和足式特点的弧形足推进机构与水陆过渡环境松软介质的相互作用机理出发,开展了弧形足在松软介质中推进过程力学行为分析计算、颗粒流仿真分析、松软介质土槽中多变量正交实验研究,基于可变形足-蹼复合两栖推进技术的水陆两栖机器人系统设计,水陆两栖机器人样机陆地、水中、水陆过渡环境推进性能实验测试等研究工作。论文的主要研究内容和成果如下：
(1)对三种常见水陆过渡环境介质(干沙、湿沙、淤泥)进行了三轴抗剪强度测试,初步掌握了其土壤力学特性。通过微元法对弧形足在松软介质中运动的受力情况进行了分析,并利用拖杆实验获得力学模型参数,进而计算出固定旋转轴的不同构型参数下弧形足在一个运动周期内与沙质介质相互作用时推进力、支撑力及驱动力矩的变化规律。利用颗粒流仿真软件(PFC)对同样条件下的弧形足运动行为进行了仿真研究分析,对比所得到的推进力、支撑力及驱动力矩,不同足型的变化趋势基本一致,验证了理论分析方法的可行性及准确度,为弧形足式两栖机器人的机构设计及控制方式提供了设计参考。
(2)自行搭建了水陆过渡环境松软介质实验土槽平台,对不同构型的弧形足在不同含水量的沙质介质、泥质介质环境,不同运动控制参数条件下的推进性能进行实验研究。由于变量多、实验难度较大,采用了正交实验和极差分析的方法,分别以推进过程中所消耗的能量、行进速度及重心起伏量为优化目标,分析了不同变量对推进性能影响的规律。结合之前理论分析及仿真研究的结果,更加深入地了解了弧形足与水陆过渡松软介质之间相互作用的关系,并得到了不同优化目标条件下的最佳参数组合。
(3)基于弧形足在水陆过渡环境下推进时的支撑力和推进力相对平衡这一优点,我们设计了一种基于可变形足-蹼复合两栖推进的水陆两栖机器人(AmphiHex).它在陆地和过渡环境下利用弧形足行进,在水下通过推进机构变形使其能够依靠蹼的拍动实现多种机动动作。搭建了水陆两栖机器人的电路控制硬件系统。设计了AmphiHex在陆地和水下的常用步态。利用基于Hopf模型的中枢模式发生器(CPG)产生适合陆地和水下推进的步态信号,并初步实现了三角步态和同步步态之间的平顺转换,为CPG仿生控制方式在水陆两栖机器人两栖行为控制提供了新的思路。
(4)对六足-蹼水陆两栖机器人/AmphiHex进行了大量实验,测试其环境适应性及两栖推进性能。陆地平坦地面上,机器人最大行走速度可达到约0.49m/s(0.58倍体长)；爬坡最大角度约为35。；采用同步步态能够翻越最大高度180mm的垂直障碍物；可爬越单级台阶高度低于160mm的连续台阶。在水下,由于目前壳体阻力较大,最大巡游速度约为0.25m/s(约0.3倍体长)；依靠六个蹼的不同动作组合,可实现原地转弯、上升、下潜、紧急制动等机动动作。水陆过渡环境中,通过改变足-蹼状态能够实现有效水陆转换。
An amphibious robot is a robot which should be adapted to various environmental conditions inland and underwater. It also could pass through complex medium terrain at the transitional zone between the land and water. Such a robot can find broad applications in resource exploration, disaster rescue, and reconnaissance, etc. Developing amphibious robots constitute a challenging research topic that has gained much attention from worldwide researchers. Current researches of amphibious robot are mainly focused on the design of the composite propulsion mechanism and the experimental study in the land and water. But the capability and effectiveness of the amphibious robot when locomoting at the transitional zone between the water and the land to which relatively little attention has been paid. In the real world, various complex terrains at the transitional zone are always not easily to be conquered with regard to a robot. In all of the complex terrains, the soft substrates which are common at the transitional zone is more difficult to the robot. This kind of complex terrain is quite a nightmare for most of the current amphibious robots. Furthermore, the selection of the amphibious propulsion methods also plays an important role in the construction of amphibious robot. Above all, it is meanful to understand the mechanism of interaction between the propulsion performer and soft substrates. In the like manner, we also need to promote the technology of amphibious composite propulsion method.
In this paper, preliminary theoretical and simulation analysis are presented to explore the dynamics between the arched foot and soft substrates. An orthogonal experiment is conducted to study the locomotion performance of the propulsion unit equipped with arched feet in the sandy and muddy terrain with different water content. We presented the detailed structural design of the transformable foot-flipper propulsion mechanism and its driving module. Finally, basic propulsion experiments of the robot are launched, which verifies that the transformable foot-flipper mechanisms have enabled the amphibious robot to pass through rough land, soft substrate, and underwater, simultaneously. The main research contents and contributions of this thesis are listed as follows:
(1) By testing three kinds of common water-land transitional environment medium's shear strength resistance (dry sand, wet sand, mud), we obtain the soil mechanical properties preliminarily. we use infinitesimal method to analysis the stress situation of the arc foot moving in soft medium, and take advantage of the experiment of the bar to achieve the mechanical model parameters, then calculate the variation of the propulsive force, supporting force and torque in one rotation period when the arc feet of different configuration parameters moving in the sand medium. We also make the arched foot motion simulation analysis in the same condition by using the Particle Flow Code (PFC), and the trends of the variation of different foot types are similar. It implies that the theoretical analysis method is feasible and the results of the theoretical analysis can provide design reference for the amphibious robots' mechanism design and control method.
(2) We built the soft medium experimental platform which is in water-land transitional environment autonomously, and we do research on propulsion performance of different types of arc feet with different motion control parameter in sand medium and mud medium with different moisture content. Because of the large number of variables and the difficulty of experiment, in order to optimize the energy consuming, the speed of moving and the value of centroid fluctuation, we adopt the way of orthogonal test and range analysis to analysis the law of the different variables influence on propulsion performance from considering the results of the theory analysis and simulation, we can understand the relationship between the arc feet and the soft medium in water-land transitional environment deeper,and achieve the best combination of parameters under the conditions of different optimization goal.
(3) It is suitable to adopting the arched foot as the propulsion performer in the soft substrates due to the balance of supportive force and forwarding force compared with the wheeled and straight leg methods. According this result, we proposed a novel amphibious robot with the foot-flipper composite propulsion mechanism. When proceeding terrestrial locomotion, the robot occupies six arc shaped legs and walks like a cockroach. By switching the legs to the flipper state, the robot could swim in the water and perform various maneuvering. The electrical system design of the robot is introduced. We also developed a neural control system using the central pattern generator (CPG) based on the Hopf model. It can easily generate the gait signals which are designed for the propulsion in land and underwater. The gait conversion between triple gait and synchronous gait is also realized.
(4) Experimental study on the motion performance of six foot-flipper amphibious robot is carried out. In land, the maximum walking speed is up to approximately0.49m/s (0.58times of body length). The maximum angle of slope that can be conqued by the robot is about35degrees. The robot could go over a obstacle with the vertical height less than180mm and climb up continuous stairs with the single stair height less than160mm. In water, the robot could realize a linear maneuvering at about maximum speed of0.25m/s (0.3times of body length) because of the non-streamline of the body case. Thanks to the cooperation of six flippers, the robot can realize the motion including pivot turning, ascending, diving and braking. A landing motion has also been performed to verify the movement of the robot at soft muddy terrain between the water and land.
本论文以兼顾轮式和足式特点的弧形足推进机构与水陆过渡环境松软介质的相互作用机理出发,开展了弧形足在松软介质中推进过程力学行为分析计算、颗粒流仿真分析、松软介质土槽中多变量正交实验研究,基于可变形足-蹼复合两栖推进技术的水陆两栖机器人系统设计,水陆两栖机器人样机陆地、水中、水陆过渡环境推进性能实验测试等研究工作。论文的主要研究内容和成果如下：
(1)对三种常见水陆过渡环境介质(干沙、湿沙、淤泥)进行了三轴抗剪强度测试,初步掌握了其土壤力学特性。通过微元法对弧形足在松软介质中运动的受力情况进行了分析,并利用拖杆实验获得力学模型参数,进而计算出固定旋转轴的不同构型参数下弧形足在一个运动周期内与沙质介质相互作用时推进力、支撑力及驱动力矩的变化规律。利用颗粒流仿真软件(PFC)对同样条件下的弧形足运动行为进行了仿真研究分析,对比所得到的推进力、支撑力及驱动力矩,不同足型的变化趋势基本一致,验证了理论分析方法的可行性及准确度,为弧形足式两栖机器人的机构设计及控制方式提供了设计参考。
(2)自行搭建了水陆过渡环境松软介质实验土槽平台,对不同构型的弧形足在不同含水量的沙质介质、泥质介质环境,不同运动控制参数条件下的推进性能进行实验研究。由于变量多、实验难度较大,采用了正交实验和极差分析的方法,分别以推进过程中所消耗的能量、行进速度及重心起伏量为优化目标,分析了不同变量对推进性能影响的规律。结合之前理论分析及仿真研究的结果,更加深入地了解了弧形足与水陆过渡松软介质之间相互作用的关系,并得到了不同优化目标条件下的最佳参数组合。
(3)基于弧形足在水陆过渡环境下推进时的支撑力和推进力相对平衡这一优点,我们设计了一种基于可变形足-蹼复合两栖推进的水陆两栖机器人(AmphiHex).它在陆地和过渡环境下利用弧形足行进,在水下通过推进机构变形使其能够依靠蹼的拍动实现多种机动动作。搭建了水陆两栖机器人的电路控制硬件系统。设计了AmphiHex在陆地和水下的常用步态。利用基于Hopf模型的中枢模式发生器(CPG)产生适合陆地和水下推进的步态信号,并初步实现了三角步态和同步步态之间的平顺转换,为CPG仿生控制方式在水陆两栖机器人两栖行为控制提供了新的思路。
(4)对六足-蹼水陆两栖机器人/AmphiHex进行了大量实验,测试其环境适应性及两栖推进性能。陆地平坦地面上,机器人最大行走速度可达到约0.49m/s(0.58倍体长)；爬坡最大角度约为35。；采用同步步态能够翻越最大高度180mm的垂直障碍物；可爬越单级台阶高度低于160mm的连续台阶。在水下,由于目前壳体阻力较大,最大巡游速度约为0.25m/s(约0.3倍体长)；依靠六个蹼的不同动作组合,可实现原地转弯、上升、下潜、紧急制动等机动动作。水陆过渡环境中,通过改变足-蹼状态能够实现有效水陆转换。
An amphibious robot is a robot which should be adapted to various environmental conditions inland and underwater. It also could pass through complex medium terrain at the transitional zone between the land and water. Such a robot can find broad applications in resource exploration, disaster rescue, and reconnaissance, etc. Developing amphibious robots constitute a challenging research topic that has gained much attention from worldwide researchers. Current researches of amphibious robot are mainly focused on the design of the composite propulsion mechanism and the experimental study in the land and water. But the capability and effectiveness of the amphibious robot when locomoting at the transitional zone between the water and the land to which relatively little attention has been paid. In the real world, various complex terrains at the transitional zone are always not easily to be conquered with regard to a robot. In all of the complex terrains, the soft substrates which are common at the transitional zone is more difficult to the robot. This kind of complex terrain is quite a nightmare for most of the current amphibious robots. Furthermore, the selection of the amphibious propulsion methods also plays an important role in the construction of amphibious robot. Above all, it is meanful to understand the mechanism of interaction between the propulsion performer and soft substrates. In the like manner, we also need to promote the technology of amphibious composite propulsion method.
In this paper, preliminary theoretical and simulation analysis are presented to explore the dynamics between the arched foot and soft substrates. An orthogonal experiment is conducted to study the locomotion performance of the propulsion unit equipped with arched feet in the sandy and muddy terrain with different water content. We presented the detailed structural design of the transformable foot-flipper propulsion mechanism and its driving module. Finally, basic propulsion experiments of the robot are launched, which verifies that the transformable foot-flipper mechanisms have enabled the amphibious robot to pass through rough land, soft substrate, and underwater, simultaneously. The main research contents and contributions of this thesis are listed as follows:
(1) By testing three kinds of common water-land transitional environment medium's shear strength resistance (dry sand, wet sand, mud), we obtain the soil mechanical properties preliminarily. we use infinitesimal method to analysis the stress situation of the arc foot moving in soft medium, and take advantage of the experiment of the bar to achieve the mechanical model parameters, then calculate the variation of the propulsive force, supporting force and torque in one rotation period when the arc feet of different configuration parameters moving in the sand medium. We also make the arched foot motion simulation analysis in the same condition by using the Particle Flow Code (PFC), and the trends of the variation of different foot types are similar. It implies that the theoretical analysis method is feasible and the results of the theoretical analysis can provide design reference for the amphibious robots' mechanism design and control method.
(2) We built the soft medium experimental platform which is in water-land transitional environment autonomously, and we do research on propulsion performance of different types of arc feet with different motion control parameter in sand medium and mud medium with different moisture content. Because of the large number of variables and the difficulty of experiment, in order to optimize the energy consuming, the speed of moving and the value of centroid fluctuation, we adopt the way of orthogonal test and range analysis to analysis the law of the different variables influence on propulsion performance from considering the results of the theory analysis and simulation, we can understand the relationship between the arc feet and the soft medium in water-land transitional environment deeper,and achieve the best combination of parameters under the conditions of different optimization goal.
(3) It is suitable to adopting the arched foot as the propulsion performer in the soft substrates due to the balance of supportive force and forwarding force compared with the wheeled and straight leg methods. According this result, we proposed a novel amphibious robot with the foot-flipper composite propulsion mechanism. When proceeding terrestrial locomotion, the robot occupies six arc shaped legs and walks like a cockroach. By switching the legs to the flipper state, the robot could swim in the water and perform various maneuvering. The electrical system design of the robot is introduced. We also developed a neural control system using the central pattern generator (CPG) based on the Hopf model. It can easily generate the gait signals which are designed for the propulsion in land and underwater. The gait conversion between triple gait and synchronous gait is also realized.
(4) Experimental study on the motion performance of six foot-flipper amphibious robot is carried out. In land, the maximum walking speed is up to approximately0.49m/s (0.58times of body length). The maximum angle of slope that can be conqued by the robot is about35degrees. The robot could go over a obstacle with the vertical height less than180mm and climb up continuous stairs with the single stair height less than160mm. In water, the robot could realize a linear maneuvering at about maximum speed of0.25m/s (0.3times of body length) because of the non-streamline of the body case. Thanks to the cooperation of six flippers, the robot can realize the motion including pivot turning, ascending, diving and braking. A landing motion has also been performed to verify the movement of the robot at soft muddy terrain between the water and land.
引文
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