一种轮腿复合型机器人的步态研究与越障性能分析

doi:10.12382/bgxb.2022.0823

摘要/Abstract

摘要：

为实现地面移动机器人在复杂地形下的环境探索需求,结合轮式机器人的高速特性和足式机器人对地形适应性强的特征,提出一种轮幅型轮腿复合型机器人,并针对其在移动过程中的振动问题以及爬梯过程中的越障问题,对机器人进行步态研究及性能分析。从静力学分析中得出机器人轮腿结构以不同姿态着地时的受力情况,结合实际情况中机器人运动约束对机器人在前进、转向和越障等任务中的步态进行分析,并基于动力学仿真ADAMS软件建立动力学模型来模拟机器人不同步态下的振动情况以及越障性能。研究结果表明,结合本文提出的步态控制方法,该轮腿复合型机器人在复杂地形环境中具有较好的行进效率和越障能力。

关键词: 轮腿复合型机器人, 步态研究, 越障性能, 稳定性, 动力学分析

Abstract:

In order for ground mobile robots to fulfil the requirements of environmental exploration in complex terrain, considering the high speed characteristic of wheeled robots and the strong environmental adaptability of legged robots, a wheel-leg hybrid robot is proposed. To address the vibration problem in moving and the obstacle surmounting problem in ladder climbing, the gait study and performance analysis of the robot are carried out. The force conditions of the wheel-leg structure of the robot in different landing postures are obtained from the static analysis, and combined with the motion constraints in the actual situation, the robot gaits in the tasks of moving forward, turning and obstacle-surmounting are analyzed. Then, with the ADAMS simulation software, the dynamic model is established to simulate the robot vibration and obstacle-surmounting performance in different gaits. The results show that combined with the proposed gait control method, the wheel-leg hybrid robot has better traveling efficiency and obstacle surmounting ability in complex terrain environment.

Key words: wheel-leg hybrid robot, gait study, obstacle-surmounting performance, stability, dynamic analysis

中图分类号:

TP24

姜祎, 王挺, 邵沛瑶, 徐瑶, 邵士亮. 一种轮腿复合型机器人的步态研究与越障性能分析[J]. 兵工学报, 2023, 44(1): 247-259.

JIANG Yi, WANG Ting, SHAO Peiyao, XU Yao, SHAO Shiliang. Gait Study and Obstacle-Surmounting Performance Analysis of a Wheel-Leg Hybrid Robot[J]. Acta Armamentarii, 2023, 44(1): 247-259.

图/表 21

图1 4种轮腿复合型机器人

Fig.1 Four kinds wheel-leg hybrid robots

图2 六轮幅轮腿机器人整体结构图

Fig.2 Overall structure diagram of a six-spoke wheel-leg robot

图3 六轮幅轮腿结构图

Fig.3 Structure diagram of the six-spoke wheel-leg

表1 六轮幅轮腿机器人基本参数

Table 1 Parameters of the six-spoke wheel-leg robot

参数	数值
长度/mm	696
宽度/mm	370
轴距/mm	350
轮距/mm	340
轮腿长度/mm	173
弹簧刚度系数/(N·m^-1)	2500
弹簧阻尼系数(N·s·m^-1)	800

图4 四足动物步态

Fig.4 Quadruped gait

表2 机器人步态特征

Table 2 Gait characteristics of the robot

步态	轮腿关系
对角	对角线上轮腿相位一致,同轴轮腿有相位差
同侧	同侧轮腿相位一致,同轴轮腿有相位差
前后	同轴轮腿相位一致,同侧轮腿有相位差
滚动	四轮腿相位一致

图5 机器人运动步态

Fig.5 Robot gaits

图6 单轮腿结构受力分析(左为轮腿受力模型图,右为轮腿力和力矩平衡图)

Fig.6 Force analysis of a single wheel-leg (lift: the model diagram of wheel-leg force, right: the balance diagram of wheel-leg force and moment)

图7 机器人差速转向模型示意图

Fig.7 Schematic diagram of the differential steering model of the robot

图8 单轮腿结构爬梯受力分析

Fig.8 Force analysis of a single wheel-leg climbing steps

图9 轮腿越障高度分析

Fig.9 Analysis of obstacle-surmounting height of the wheel-leg

图10 滚动步态下机器人爬台阶过程

Fig.10 Robot stair climbing process under rolling gait

图11 对角步态下机器人直行质心变化曲线

Fig.11 Robot centroid change curve of straight ahead under diagonal gait

图12 机器人直行质心变化曲线

Fig.12 Cuve of the robot’s centroid change under straight walking condition

图13 机器人直行姿态变化曲线

Fig.13 Curve of the robot’s attitude change under straight walking condition

图14 机器人ADAMS软件仿真图

Fig.14 Simulation of the robot based on ADAMS software

图15 机器人爬台阶仿真图

Fig.15 Simulation of the robot climbing stairs

图16 机器人爬台阶质心变化曲线

Fig.16 Curve of the robot’s centroid change when climbing stairs

表3 台阶实验结果

Table 3 Stairs experiment results

台阶高度/mm	台阶宽度/mm	通过性
175	260	通过
175	300	通过
175	350	通过
150	260	通过
150	300	通过
150	350	通过
125	260	通过
125	300	通过
125	350	通过

图17 机器人复杂地面环境实验

Fig.17 Experiment of the robot in complex terrain

图18 机器人爬台阶实验

Fig.18 Experiment of the robot climbing stairs

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