助老助残四足并联腿步行机器人机构设计与分析
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摘要
论文将并联机构作为四足步行机器人的腿机构,结合模块化、可重构思想,提出一种助老助残四足/两足可重构并联腿步行机器人,旨为老人和下肢残障者提供一种更加便利的乘用步行机器人。研究成果一方面将拓展并联机构应用的新领域,具有较高的学术价值;另一方面将提高老年人和下肢残障者的生活质量,具有重要的社会意义。
首先,基于模块化、可重构思想,完成了四足/两足可重构并联腿步行机器人、并联腿及可重构装置的机构设计。
其次,以四足并联腿步行机器人为研究对象,分析了机器人的运动特征;将机器人的运动学问题转化为单个并联腿的运动学问题,完成了四足并联腿步行机器人的位置分析;从机构学角度,将机器人等效为分支数不同的并联机构,利用并联机构理论和影响系数理论,完成机器人的速度、加速度分析,用MATLAB软件进行运动学数值算例分析。
再次,进行了单个摆动腿的动力学建模分析,并用MATLAB软件进行运动学、动力学数值算例分析;建立了四足并联腿步行机器人超确定输入下的协调方程;按加权最小二乘法进行了机器人动载最优协调分配。随后,采用复合摆线轨迹规划方法,规划了有效的机器人单腿足底运动轨迹;在不同运动方式(动态步行、静态步行、四足站立)下,分析了多种冗余输入组合及其优劣性。
最后,对单个摆动腿和四足步行机器人分别进行了ADAMS仿真。仿真结果一方面证明运动学、动力学模型的正确性和有效性,另一方面按照预先规划好的足底轨迹,可以得到驱动器位移、速度、加速度及驱动力曲线,为机器人样机的研制奠定基础。
Using the parallel mechanism as leg mechanism, combined the advantage of the modular robot and reconfigurable robot, a novel reconfigurable quadruped /bipedal walking robot with parallel mechanism for the elderly and the disabled is proposed in this paper. It is intended to provide a more convenient walking robot for the elderly and the disabled. The research results not only have high academic value that will develop a new application field of parallel mechanism, but also have important social significance that will improve the quality of life of the elderly and the disabled.
Firstly, the concrete application condition of manned robot is analyzed. The mechanical design of quadruped /bipedal reconfigurable walking robot, parallel leg mechanisms, and reconfigurable device is accomplished.
Secondly, taking the quadruped parallel walking robot as the object of study, the movement characters of robot are analyzed. The kinematics problem of the robot can be transformed into the kinematics problem of one parallel leg mechanism. The position analysis of the quadruped parallel walking robot is accomplished. From the mechanisms point of view, the robot is equivalent to the parallel mechanism with different branch number. Using the parallel mechanism theory and influence coefficients theory, the velocity and acceleration of robot is analyzed. Using MATLAB program, kinematics numerical example is analyzed.
Thirdly, the dynamics modeling of the single swing leg is analyzed. Using MATLAB program, numerical examples of the kinematics and dynamics are analyzed. The compatibility equation of the quadruped parallel walking robot is established under the actuation redundancy. Using the weighted least square method, the optimal coordination distribution of the dynamic loading is achieved.
Fourthly, an effective foot trajectory of the single leg mechanism is planned by the method of composite cycloid trajectory planning. Under different motion mode (such as: dynamic walking, static walking, four feet standing), multiple combinations of the redundant inputs and their superiority-inferiority are analyzed.
Lastly, both the single swinging leg and the quadruped walking robot with parallel mechanism were simulated by ADAMS. On the one hand, the simulation results proved the accuracy and validity of the kinematics and dynamics model. On the other hand, according to planned foot trajectory, we can gain the curves of the actuator displacement, velocity, acceleration and driving force. It lays a foundation for the drive motor selection and robot control.
首先,基于模块化、可重构思想,完成了四足/两足可重构并联腿步行机器人、并联腿及可重构装置的机构设计。
其次,以四足并联腿步行机器人为研究对象,分析了机器人的运动特征;将机器人的运动学问题转化为单个并联腿的运动学问题,完成了四足并联腿步行机器人的位置分析;从机构学角度,将机器人等效为分支数不同的并联机构,利用并联机构理论和影响系数理论,完成机器人的速度、加速度分析,用MATLAB软件进行运动学数值算例分析。
再次,进行了单个摆动腿的动力学建模分析,并用MATLAB软件进行运动学、动力学数值算例分析;建立了四足并联腿步行机器人超确定输入下的协调方程;按加权最小二乘法进行了机器人动载最优协调分配。随后,采用复合摆线轨迹规划方法,规划了有效的机器人单腿足底运动轨迹;在不同运动方式(动态步行、静态步行、四足站立)下,分析了多种冗余输入组合及其优劣性。
最后,对单个摆动腿和四足步行机器人分别进行了ADAMS仿真。仿真结果一方面证明运动学、动力学模型的正确性和有效性,另一方面按照预先规划好的足底轨迹,可以得到驱动器位移、速度、加速度及驱动力曲线,为机器人样机的研制奠定基础。
Using the parallel mechanism as leg mechanism, combined the advantage of the modular robot and reconfigurable robot, a novel reconfigurable quadruped /bipedal walking robot with parallel mechanism for the elderly and the disabled is proposed in this paper. It is intended to provide a more convenient walking robot for the elderly and the disabled. The research results not only have high academic value that will develop a new application field of parallel mechanism, but also have important social significance that will improve the quality of life of the elderly and the disabled.
Firstly, the concrete application condition of manned robot is analyzed. The mechanical design of quadruped /bipedal reconfigurable walking robot, parallel leg mechanisms, and reconfigurable device is accomplished.
Secondly, taking the quadruped parallel walking robot as the object of study, the movement characters of robot are analyzed. The kinematics problem of the robot can be transformed into the kinematics problem of one parallel leg mechanism. The position analysis of the quadruped parallel walking robot is accomplished. From the mechanisms point of view, the robot is equivalent to the parallel mechanism with different branch number. Using the parallel mechanism theory and influence coefficients theory, the velocity and acceleration of robot is analyzed. Using MATLAB program, kinematics numerical example is analyzed.
Thirdly, the dynamics modeling of the single swing leg is analyzed. Using MATLAB program, numerical examples of the kinematics and dynamics are analyzed. The compatibility equation of the quadruped parallel walking robot is established under the actuation redundancy. Using the weighted least square method, the optimal coordination distribution of the dynamic loading is achieved.
Fourthly, an effective foot trajectory of the single leg mechanism is planned by the method of composite cycloid trajectory planning. Under different motion mode (such as: dynamic walking, static walking, four feet standing), multiple combinations of the redundant inputs and their superiority-inferiority are analyzed.
Lastly, both the single swinging leg and the quadruped walking robot with parallel mechanism were simulated by ADAMS. On the one hand, the simulation results proved the accuracy and validity of the kinematics and dynamics model. On the other hand, according to planned foot trajectory, we can gain the curves of the actuator displacement, velocity, acceleration and driving force. It lays a foundation for the drive motor selection and robot control.
引文
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2中华人民共和国科学技术部.国家中长期科学和技术发展规划纲要(2006-2020). http://www.most.gov.cn/kjgh/
3邓志东,程振波.我国助老助残机器人产业与技术发展现状调研.机器人技术与应用, 2009, (2): 20-24
4 S. Hirose, K. Kato. Study on Quadruped Walking Robot in Tokyo Institute of Technology-past, present and future. IEEE International Conference on Robotics and Automation, San Francisco, USA, 2000, 1: 414-419
5 R. S. Mosher. Test and Evaluation of a Versatile Walking Truck. In Proc. of the Cornell Aeronautic Lab/ISTVS Off-road Mobility Research Symposium, Washington, USA, 1968: 359-379
6 http://www-robot.mes.titech.ac.jp/research/paper_e.html
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10 Y. Fukuoka, H. Kimura. Biologically Inspired Adaptive Dynamic Walking of a Quadruped on Irregular Terrain: Proposal of the Design of Coupled Neuro-Mechanical System and Evaluation of the Mutual Entrainment among Pitching Motion. CPG and Rolling Motion. Journal of the Robotics Society of Japan, 2003, 21(5): 569-580
11郑浩峻.基于CPG原理的机器人运动控制方法.高技术通讯, 2003, (7): 64-67
12 Y. Fukuoka, H. Katabuti, H. Kimura. Dynamic Locomotion of Quadrupeds“Tekken3&4”Using Simple Navigation System. Journal of Robotics and Mechatronics, 2010, 22(1): 36-42
13 http://www.bostondynamics.com/robot_bigdog.html
14 http://tech.sina.com.cn/d/2010-07-22/08024457702.shtml
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18 http://www.pim.tsinghua.edu.cn/units/me/thsr/
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2中华人民共和国科学技术部.国家中长期科学和技术发展规划纲要(2006-2020). http://www.most.gov.cn/kjgh/
3邓志东,程振波.我国助老助残机器人产业与技术发展现状调研.机器人技术与应用, 2009, (2): 20-24
4 S. Hirose, K. Kato. Study on Quadruped Walking Robot in Tokyo Institute of Technology-past, present and future. IEEE International Conference on Robotics and Automation, San Francisco, USA, 2000, 1: 414-419
5 R. S. Mosher. Test and Evaluation of a Versatile Walking Truck. In Proc. of the Cornell Aeronautic Lab/ISTVS Off-road Mobility Research Symposium, Washington, USA, 1968: 359-379
6 http://www-robot.mes.titech.ac.jp/research/paper_e.html
7 K. Arikwa, S. Hirose. Development of Quadruped Walking Robot TITAN-VIII. IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, 1996, 1: 208-214
8 K. Kato, S. Hirose. Development of the Quadruped Walking Robot,“TITAN- IX”. IEEE/ IECON International Conference on Industrial Electronics Society, Nagoya, Japan, 2000, 1:40-45
9 A. Takanishi, J. Yamaguchi, M. Iwata. Dynamic Quadruped Walking Stabilized with Trunk Motion. Proceedings of the IEEE/RSJ Intelligent Conference on Intelligent Robots and Systems, Pittsburgh, USA, 1995, 3: 165-172
10 Y. Fukuoka, H. Kimura. Biologically Inspired Adaptive Dynamic Walking of a Quadruped on Irregular Terrain: Proposal of the Design of Coupled Neuro-Mechanical System and Evaluation of the Mutual Entrainment among Pitching Motion. CPG and Rolling Motion. Journal of the Robotics Society of Japan, 2003, 21(5): 569-580
11郑浩峻.基于CPG原理的机器人运动控制方法.高技术通讯, 2003, (7): 64-67
12 Y. Fukuoka, H. Katabuti, H. Kimura. Dynamic Locomotion of Quadrupeds“Tekken3&4”Using Simple Navigation System. Journal of Robotics and Mechatronics, 2010, 22(1): 36-42
13 http://www.bostondynamics.com/robot_bigdog.html
14 http://tech.sina.com.cn/d/2010-07-22/08024457702.shtml
15 M. Buehler. Dynamic Locomotion with One, Four and Six-Legged Robots. Journal of the Robotics Society of Japan, 2002, 20, 3: 15-20
16 K. Taehun, K. Hyungseok, S. Taeyoung, et al. Design of Quadruped Walking and Climbing Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, 2003, 1: 619-624
17 B. Huang, P. Wang, L. Sun. Behavior-based Control of a Hybrid Quadruped Robot. The Sixth World Congress on Intelligent Control and Automation (WCICA 2006), 2006, 2: 8997-9001
18 http://www.pim.tsinghua.edu.cn/units/me/thsr/
19马培荪,窦小红,刘臻.全方位四足步行机器人的运动学研究.上海交通大学学报, 1994, 28(2): 36-39
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