串并混联四足仿生机器人动力学建模与分析
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摘要
对一种可快速行走、承载能力大及侧向解耦较好的串并混联四足仿生机器人进行动力学建模与分析。阐述了腿部机构的布局,进行了运动学分析,建立了具有显式的线速度雅可比矩阵,并推导了各构件的速度与末端线速度的显式表达式。采用Lagrange方程建立了显式的腿部机构动力学方程,推导了腿部机构的逆动力学方程。通过实例对腿部机构的逆动力学方程进行验证,分析了步长对驱动液压缸最大输出力的影响规律;依据逆动力学方程建立了仿生机器人的移动能耗性能指标,并对仿生机器人的移动能耗进行了分析。实例与分析表明,动力学方程理论推导正确;在腿部足端着地的瞬间各驱动液压缸产生最大输出力,与抬腿高度无关;在直线行走和侧向行走时,随着步长的增加,液压缸输出力单调增大;在腿部机构侧向行走时,3个驱动缸中侧摆缸输出力最大。
The dynamic modeling and analysis of a new kind of bionic robot which had the characteristics of large capacity,fast walking and good lateral decoupling was carried out. Firstly,the layout of the leg mechanism was introduced,the kinematics analysis was carried out,the explicit linear velocity Jacobi was established,and the explicit expressions of each component's velocity and terminal linear velocity were derived,which laid a foundation for dynamic modeling. Then,the explicit dynamic equation of leg mechanism was established by using Lagrange equation,and the inverse dynamics of leg mechanism was deduced. Finally,the inverse dynamics equation of the leg mechanism was verified by an example,and the effect of the asynchronous length on the maximum output force of the hydraulic cylinder was analyzed.The moving energy consumption of bionic robot was analyzed according to the inverse dynamic equation.An example showed that the theoretical derivation of dynamic equation was correct. At the moment when the feet landed on the ground,each drive hydraulic cylinder produced the maximum output force,which was independent of the lift height of the leg. When walking in straight and lateral direction,the output force of hydraulic cylinder was increased monotonously with the increase of step length. When walking in the lateral direction of leg mechanism,the maximum output force of the three driving cylinders was lateral swing cylinder,which laid a foundation for the design of buffer structure and dynamic parameters. By analyzing the influence of different gait parameters on energy consumption index of the whole machine,the method of reducing energy consumption was summarized,which provided basis for the gait parameter optimization and trajectory planning of the quadruped robot.
The dynamic modeling and analysis of a new kind of bionic robot which had the characteristics of large capacity,fast walking and good lateral decoupling was carried out. Firstly,the layout of the leg mechanism was introduced,the kinematics analysis was carried out,the explicit linear velocity Jacobi was established,and the explicit expressions of each component's velocity and terminal linear velocity were derived,which laid a foundation for dynamic modeling. Then,the explicit dynamic equation of leg mechanism was established by using Lagrange equation,and the inverse dynamics of leg mechanism was deduced. Finally,the inverse dynamics equation of the leg mechanism was verified by an example,and the effect of the asynchronous length on the maximum output force of the hydraulic cylinder was analyzed.The moving energy consumption of bionic robot was analyzed according to the inverse dynamic equation.An example showed that the theoretical derivation of dynamic equation was correct. At the moment when the feet landed on the ground,each drive hydraulic cylinder produced the maximum output force,which was independent of the lift height of the leg. When walking in straight and lateral direction,the output force of hydraulic cylinder was increased monotonously with the increase of step length. When walking in the lateral direction of leg mechanism,the maximum output force of the three driving cylinders was lateral swing cylinder,which laid a foundation for the design of buffer structure and dynamic parameters. By analyzing the influence of different gait parameters on energy consumption index of the whole machine,the method of reducing energy consumption was summarized,which provided basis for the gait parameter optimization and trajectory planning of the quadruped robot.
引文
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[15]金振林,张金柱,高峰.一种消防六足机器人及其腿部机构运动学分析[J].中国机械工程,2016,27(7):865-871.JIN Zhenlin,ZHANG Jinzhu,GAO Feng.A firefighting six-legged robot and its kinematics analysis of leg mechanisms[J].China Mechanical Engineering,2016,27(7):865-871.(in Chinese)
[16]王跃灵,金振林,李研彪.球面3-RRR并联机构动力学建模与鲁棒-自适应迭代学习控制[J].机械工程学报,2010,46(1):68-73.WANG Yueling,JIN Zhenlin,LI Yanbiao.Dynamic modeling and robust adaptive iterative learning control of 3-RRR galaxy parallel mechanism[J].Journal of Mechanical Engineering,2010,46(1):68-73.(in Chinese)
[17]荣誉,金振林.3-DOF并联机械腿动力学建模与伺服电机峰值预估[J].光学精密工程,2012,20(9):1974-1983.RONG Yu,JIN Zhenlin.Dynamic modeling and peak prediction of servo motor for 3-DOF parallel mechanical leg[J].Optics and Precision Engineering,2012,20(9):1974-1983.(in Chinese)
[18]荣誉,刘双勇,王洪斌,等.轮毂打磨5-DOF机械臂动力学建模与驱动参数预估[J].中国机械工程,2018,29(4):449-456.RONG Yu,LIU Shuangyong,WANG Hongbin,et al.Dynamics modeling and drive parameter prediction of a 5-DOF wheel grinding manipulator arm[J].China Mechanical Engineering,2018,29(4):449-456.(in Chinese)
[19]李研彪,李景敏,计时鸣,等.一种3自由度并联拟人机械腿的动力学建模及伺服电机峰值力矩预估[J].兵工学报,2014,35(11):1929-1936.LI Yanbiao,LI Jingmin,JI Shiming,et al.Dynamic modeling and peak torque prediction of servo motor for a 3-DOF parallel humanoid mechanical leg[J].Acta Armamentarii,2014,35(11):1929-1936.(in Chinese)
[20]金振林,崔冰艳.机器人肩关节的动力学建模及伺服电机峰值预估[J].农业工程学报,2011,27(8):145-149.JIN Zhenlin,CUI Bingyan.Dynamic modeling and peak prediction of servo motor for shoulder joint of robot[J].Transactions of the CSAE,2011,27(8):145-149.(in Chinese)
[21]罗庆生,罗霄.仿生四足机器人技术[M].北京:北京理工大学出版社,2016:145-147.
[22]陈修龙,孙德才,王清.基于拉格朗日的冗余驱动并联机构刚体动力学建模[J/OL].农业机械学报,2015,46(12):329-336.CHEN Xiulong,SUN Decai,WANG Qing.Rigid dynamics modeling of redundant actuation parallel mechanism based on Lagrange method[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):329-336.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20151245&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.12.045.(in Chinese)
[23]张东胜,许允斗,姚建涛,等.五自由度混联机器人逆动力学分析[J/OL].农业机械学报,2017,48(9):384-391.ZHANG Dongsheng,XU Yundou,YAO Jiantao,et al.Inverse dynamic analysis of novel 5-DOF hybrid manipulator[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(9):384-391.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20170949&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2017.09.049.(in Chinese)
[24]姚建涛,韩博,窦玉超,等.基座运动对并联调整机构动力学性能的影响[J/OL].农业机械学报,2018,49(7):410-418.YAO Jiantao,HAN Bo,DOU Yuchao,et al.Influence of base motion on dynamic performance of parallel adjustment mechanism[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(7):410-418.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20180751&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2018.07.051.(in Chinese)
[25]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006:277-283.
[2]RAIBERT M,BLANKESPOOR K,NELSON G,et al.Big Dog the rough-terrain quadruped robot[C]∥Proceedings of the 17th IFAC World Congress.Oxford,2008:10822-10825.
[3]KALAKRISHNAN M,BUCHLI J,PASTOR P,et al.Learning planning and control for quadruped locomotion over challenging terrain[J].International Journal of Robotics Research,2011,30(2):236-258.
[4]WOODEN D,MALCHANO M,BLANKESPOOR K,et al.Autonomous navigation for big Dog[C]∥IEEE International Conference on Robotics and Automation,Anchorage,AK,USA,2010:4736-4741.
[5]荣誉,金振林,崔冰艳.六足农业机器人并联腿构型分析与结构参数设计[J].农业工程学报,2012,28(15):9-14.RONG Yu,JIN Zhenlin,CUI Bingyan.Configuration analysis and structure parameter design of six-leg agricultural robot with parallel-leg mechanisms[J].Transactions of the CSAE,2012,28(15):9-14.(in Chinese)
[6]荣誉,金振林,曲梦可.六足步行机器人的并联机械腿设计[J].光学精密工程,2012,20(7):1532-1541.RONG Yu,JIN Zhenlin,QU Mengke.Design of parallel mechanical leg of six-legged robot[J].Optics and Precision Engineering,2012,20(7):1532-1541.(in Chinese)
[7]王炳一.一种新型四足仿生机器人性能分析与仿真[D].秦皇岛:燕山大学,2011:55-70.WANG Bingyi.Simulation and performance analysis on new type of bionic quadruped robot[D].Qinhuangdao:Yanshan University,2011:55-70.(in Chinese)
[8]张金柱,金振林,陈广广.六足步行机器人腿部机构运动学分析[J].农业工程学报,2016,32(9):45-52.ZHANG Jinzhu,JIN Zhenlin,CHEN Guangguang.Kinematic analysis of leg mechanism of six-legged walking robot[J].Transactions of the CSAE,2016,32(9):45-52.(in Chinese)
[9]RONG X W,LI Y B,RUAN J H,et al.Design and simulation for a hydraulic actuated quadruped robot[J].Journal of Mechanical Science and Technology,2012,26(4):1171-1177.
[10]李贻斌,李彬,荣学文,等.液压驱动四足仿生机器人的结构设计和步态规划[J].山东大学学报,2011,41(5):32-36.LI Yibin,LI Bin,RONG Xuewen,et al.Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot[J].Journal of Shandong University,2011,41(5):32-36.(in Chinese)
[11]CAI R B,CHEN Y Z,HOU W Q,et al.Trotting gait of a quadruped robot based on the time-pose control method[J].International Journal of Advanced Robotic Systems,2013,148(10):1-7.
[12]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):39-44.WANG Lipeng,WANG Junzheng,WANG Shoukun,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)
[13]LI M T,WANG X,GUO W,et al.System design of a cheetah robot toward ultra-high speed[J].International Journal of Advanced Robotic Systems,2014,11:73.
[14]潘阳.P_P结构六足机器人性能设计与控制试验研究[D].上海:上海交通大学,2014:29-55.PAN Yang.Performance design and control experiment of a novel hexapod robot with P_P structure[D].Shanghai:Shanghai Jiao Tong University,2014:29-55.(in Chinese)
[15]金振林,张金柱,高峰.一种消防六足机器人及其腿部机构运动学分析[J].中国机械工程,2016,27(7):865-871.JIN Zhenlin,ZHANG Jinzhu,GAO Feng.A firefighting six-legged robot and its kinematics analysis of leg mechanisms[J].China Mechanical Engineering,2016,27(7):865-871.(in Chinese)
[16]王跃灵,金振林,李研彪.球面3-RRR并联机构动力学建模与鲁棒-自适应迭代学习控制[J].机械工程学报,2010,46(1):68-73.WANG Yueling,JIN Zhenlin,LI Yanbiao.Dynamic modeling and robust adaptive iterative learning control of 3-RRR galaxy parallel mechanism[J].Journal of Mechanical Engineering,2010,46(1):68-73.(in Chinese)
[17]荣誉,金振林.3-DOF并联机械腿动力学建模与伺服电机峰值预估[J].光学精密工程,2012,20(9):1974-1983.RONG Yu,JIN Zhenlin.Dynamic modeling and peak prediction of servo motor for 3-DOF parallel mechanical leg[J].Optics and Precision Engineering,2012,20(9):1974-1983.(in Chinese)
[18]荣誉,刘双勇,王洪斌,等.轮毂打磨5-DOF机械臂动力学建模与驱动参数预估[J].中国机械工程,2018,29(4):449-456.RONG Yu,LIU Shuangyong,WANG Hongbin,et al.Dynamics modeling and drive parameter prediction of a 5-DOF wheel grinding manipulator arm[J].China Mechanical Engineering,2018,29(4):449-456.(in Chinese)
[19]李研彪,李景敏,计时鸣,等.一种3自由度并联拟人机械腿的动力学建模及伺服电机峰值力矩预估[J].兵工学报,2014,35(11):1929-1936.LI Yanbiao,LI Jingmin,JI Shiming,et al.Dynamic modeling and peak torque prediction of servo motor for a 3-DOF parallel humanoid mechanical leg[J].Acta Armamentarii,2014,35(11):1929-1936.(in Chinese)
[20]金振林,崔冰艳.机器人肩关节的动力学建模及伺服电机峰值预估[J].农业工程学报,2011,27(8):145-149.JIN Zhenlin,CUI Bingyan.Dynamic modeling and peak prediction of servo motor for shoulder joint of robot[J].Transactions of the CSAE,2011,27(8):145-149.(in Chinese)
[21]罗庆生,罗霄.仿生四足机器人技术[M].北京:北京理工大学出版社,2016:145-147.
[22]陈修龙,孙德才,王清.基于拉格朗日的冗余驱动并联机构刚体动力学建模[J/OL].农业机械学报,2015,46(12):329-336.CHEN Xiulong,SUN Decai,WANG Qing.Rigid dynamics modeling of redundant actuation parallel mechanism based on Lagrange method[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):329-336.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20151245&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.12.045.(in Chinese)
[23]张东胜,许允斗,姚建涛,等.五自由度混联机器人逆动力学分析[J/OL].农业机械学报,2017,48(9):384-391.ZHANG Dongsheng,XU Yundou,YAO Jiantao,et al.Inverse dynamic analysis of novel 5-DOF hybrid manipulator[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(9):384-391.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20170949&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2017.09.049.(in Chinese)
[24]姚建涛,韩博,窦玉超,等.基座运动对并联调整机构动力学性能的影响[J/OL].农业机械学报,2018,49(7):410-418.YAO Jiantao,HAN Bo,DOU Yuchao,et al.Influence of base motion on dynamic performance of parallel adjustment mechanism[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(7):410-418.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20180751&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2018.07.051.(in Chinese)
[25]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006:277-283.