基于力控的助力双轮拖车载荷

doi:10.12382/bgxb.2023.0898

摘要/Abstract

摘要：

为拓展四足仿生机器人的运输能力,提出一种助力双轮拖车载荷构型,自带动力并由四足仿生机器人牵引,从而获得更大的运输能力,同时兼顾整体的灵活机动能力,具备一定的越野能力。通过分析其运动学和动力学特点,建立双轮拖车载荷的动力学仿真模型,提出基于力控的助力控制算法,并以此为依据设计双轮拖车载荷实物样机,在该样机上对算法进行验证。实验结果表明,助力双轮拖车载荷可以在满载的情况下较好地响应四足仿生机器人的运动状态,并具有一定的越野能力,极大地拓展了四足仿生机器人的运输能力。

关键词: 双轮拖车载荷, 助力, 力控, 动力学仿真

Abstract:

A configuration of a two-wheeled power-assist trailer payload, which is towed by a quadruped bionic robot,is proposed to enhance the transportation capacity of quadruped bionic robots. This design enables increased transportation capacity while maintaining overall flexibility, maneuverability, and off-road capabilities. The kinematics and dynamics characteristics of the two-wheeled power-assist trailer payload is analyzed, a dynamic simulation model is developed, and a force-based assist control algorithm is proposed. A physical prototype of two-wheeled trailer payload is designed based on the proposed algorithm,and utilized for algorithm verification. The result shows that the two-wheeled power-assist trailer payload can effectively respond to the motion state of quadruped bionic robot under full load and exhibits significant off-road capability, thereby greatly expanding its transportation capacity.

Key words: two-wheeled trailer payload, power-assist, force control, dynamic simulation

中图分类号:

TP249

慕林栋, 赵鑫磊, 许鹏, 邱天奇, 江磊. 基于力控的助力双轮拖车载荷[J]. 兵工学报, 2023, 44(S2): 61-70.

MU Lindong, ZHAO Xinlei, XU Peng, QIU Tianqi, JIANG Lei. Two-wheeled Power-assist Trailer Payload Based on Force Control[J]. Acta Armamentarii, 2023, 44(S2): 61-70.

图/表 17

图1 典型的轮腿机器人

Fig.1 Typical wheel-legged robot

图2 国内外小型电动运输车

Fig.2 Small electric transport vehicles at home and abroad

图3 拖车载荷总体结构示意图

Fig.3 Overall structure diagram of trailer robot

图4 拖车简化机构模型

Fig.4 Simplified mechanism model of trailer

图5 两轮拖车差速运动模型

Fig.5 Differential motion model of two-wheel trailer

图6 两轮拖车系统简易机构模型

Fig.6 Simple mechanism model of two-wheel trailer system

图7 拖车载荷控制系统原理框图

Fig.7 Block diagramof control system of trailer robot

图8 拖车载荷仿真模型(含牵引滑块)

Fig.8 Simulation model of trailer robot (including traction slider)

表1 轮胎接触参数

Table 1 Contact parameters of tire

参数	数值
弹性系数	200000.0
阻尼系数	150.0
滑动摩擦因数	1.0

图9 拖车载荷仿真运动数据

Fig.9 Motion simulation data of trailer robots

图10 拖车载荷总体结构(含示意负载)

Fig.10 Overall structure of trailer robot (including schematic load)

图11 静止状态下力传感器数据

Fig.11 Force sensor data in the static state

图12 拖车载荷水平地面牵引试验数据

Fig.12 Test data of trailer robot traction on horizontal ground

图13 拖车载荷上下坡牵引试验

Fig.13 Uphill and downhill traction test of trailer robots

图14 拖车载荷上下坡牵引试验数据

Fig.14 Uphill and downhill traction test data of trailer robots

图15 拖车载荷越野牵引试验

Fig.15 Off-road traction test of trailer robots

图16 拖车载荷越野牵引试验数据

Fig.16 Off-road traction test data of trailer robots

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