3-PUU轮腿式移动机器人的步态与稳定性分析
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摘要
轮腿式机器人兼具轮式的移动速度快和腿式的越障能力强的优势,是新型移动机器人的发展方向。提出了一种基于3-PUU并联机构的轮腿式移动机器人,其具有并联机构的结构简单、刚度大、承载能力强等优势。对3-PUU轮腿式移动机器人的腿式行走步态进行了分析,阐述了轮腿切换原理以及轮式模式下的转向原理。通过重心计算,分析了该机器人在路面上运动的稳定性,确定了最大步长。利用三次样条插值法推导出了平台的运动轨迹方程,并在Matlab环境下进行仿真,得到平台的位移、速度、加速度变化规律。仿真结果表明,该机器人可实现连续稳定的行走,可用于煤矿井下等危险环境的救援任务。
The wheel-legged robot has the advantages of fast moving velocity of wheeled robot and strong passing obstacle capability of legged robot,and it is the development direction of new type mobile robot. A kind of wheel-legged mobile robot based on 3-PUU parallel mechanism is presented. It has advantages of simple structure,high stiffness and strong carrying capacity. The leg walking gait of 3-PUU wheel-legged mobile robot is analyzed. The wheel and leg switch principle and the steering principle under wheel type mode are explained.The stability of robot moving on the road surface is analyzed according to the calculation of gravity,and the maximum step is determined. The trajectory equation is derived by using three spline interpolation and the variation rules of displacement,velocity and acceleration are obtained by using Matlab software. The simulation results show that the robot can achieve continuous and stable walking. The robot can be used in the rescue tasks such as underground coal mines and other dangerous environments.
The wheel-legged robot has the advantages of fast moving velocity of wheeled robot and strong passing obstacle capability of legged robot,and it is the development direction of new type mobile robot. A kind of wheel-legged mobile robot based on 3-PUU parallel mechanism is presented. It has advantages of simple structure,high stiffness and strong carrying capacity. The leg walking gait of 3-PUU wheel-legged mobile robot is analyzed. The wheel and leg switch principle and the steering principle under wheel type mode are explained.The stability of robot moving on the road surface is analyzed according to the calculation of gravity,and the maximum step is determined. The trajectory equation is derived by using three spline interpolation and the variation rules of displacement,velocity and acceleration are obtained by using Matlab software. The simulation results show that the robot can achieve continuous and stable walking. The robot can be used in the rescue tasks such as underground coal mines and other dangerous environments.
引文
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[15]YI S.Reliable gait planning and control for miniaturized quadruped robot pet[J].Mechatronics,2010,20(4):485-495.
[2]杨帆,吴贺利,罗晨晖.一种轮腿式越障机器人的设计与分析[J].机械传动,2017,41(5):198-203.
[3]PAN Y,GAO F,QI C,et al.Human-tracking strategies for a sixlegged rescue robot based on distance and view[J].Chinese Journal of Mechanical Engineering,2016,29(2):219-230.
[4]王红梅,张明路,张小俊,等.新型八轮腿复合移动机器人动力学分析与控制[J].中国机械工程,2012,23(23):2858-2863.
[5]SUZUMURA A,FUJIMOTO Y.Real-time motion generation and control systems for high wheel-legged robot mobility[J].IEEE Transactions on Industrial Electronics,2014,61(7):3648-3659.
[6]BOUTON A,GRAND C,BENAMAR F.Motion control of a compliant wheel-leg robot for rough terrain crossing[C]//Proceeding of the2016 IEEE International Conference on Robotics and Automation,16-21 May 2016,Stockholm,Sweden.New York:IEEE,c2017:2846-2851.
[7]孙治博,刘晋浩,于春战,等.变幅轮腿机器人智能越障步态规划与平稳性分析[J].农业工程学报,2015,31(16):1-7.
[8]马泽润.轮腿式外星探测机器人的机构设计与步态规划研究[D].上海:上海交通大学,2014:11-16.
[9]罗洋,李奇敏,温皓宇.一种新型轮腿式机器人设计与分析[J].中国机械工程,2013,24(22):3018-3023.
[10]CHEN S C,HUANG K J,CHEN W H,et al.Quattroped:a legwheel transformable robot[J].IEEE/ASME Transactions on Mechatronics,2014,19(2):730-742.
[11]KIM Y S,JUNG G P,KIM H,et al.Wheel transformer:a wheelleg hybrid robot with passive transformable wheels[J].IEEE Transactions on Robotics,2014,30(6):1487-1498.
[12]BRUZZONE L,FANGHELLA P.Functional redesign of mantis 2.0,a hybrid leg-wheel robot for surveillance and inspection[J].Journal of Intelligent&Robotic Systems,2016,81(2):1-16.
[13]林绿德,庄永军,徐东群.一种双排全向轮:201620530299.6[P].2016-11-30.
[14]张成军,李艳文.一种基于3-RPC并联机构的新型步行机器人[J].机械工程学报,2011,47(15):25-30.
[15]YI S.Reliable gait planning and control for miniaturized quadruped robot pet[J].Mechatronics,2010,20(4):485-495.