Dynamic Modeling and Driving Parameter Prediction of Mechanical Leg of Wheel-leg Hybrid Robot

doi:10.3969/j.issn.1000-1093.2017.08.021

Abstract

Abstract: A new type of wheel-leg hybrid quadruped robot is proposed, which has four 6-DOF mechanical legs based on 3-UPS parallel mechanism. The dynamics of mechanical legs are modeled, and their driving parameters are predicted. The vector chain method is used to establish a transfer model of 3-UPS parallel mechanism, and the Jacobian matrix is established. A dynamics model of mechanical legs is established based on the Lagrange equation, and the drive force acted on the mechanism is given. The peak prediction model of servo motors for driving speed and torque is analyzed based on the dynamics model. The calculated result shows that the peak value of rotating speed of driving motor is 19.7 r/s, and the peak value of torque of driving motor is 71 mN·m. A design scheme of mechanical leg and its structure parameters are used to obtain the changes of driving speeds and torques of 6 motors over time. The calculated results show that the peak speed of driving motor is 15.3 r/s, and its peak torque is 48.1 mN·m, which are all less than the predicted limit values. The predicted peak power of servo motors is 77 (W). It proves that the dynamic analysis and the peak prediction model of driving parameters of the mechanical leg are very reasonable. Key

Key words: mechanics, robot, wheel-leghybrid, parallelmechanicalleg, dynamicanalysis, Lagrangeequation, peakpredictionmodel

CLC Number:

TP242.3

QU Meng-ke， WANG Hong-bo， RONG Yu. Dynamic Modeling and Driving Parameter Prediction of Mechanical Leg of Wheel-leg Hybrid Robot[J]. Acta Armamentarii, 2017, 38(8): 1619-1629.

References

［1］高峰, 郭为忠. 中国机器人的发展战略思考［J］. 机械工程学报, 2016, 52(7): 1-5.
GAO Feng, GUO Wei-zhong. Thinking of the development strategy of robots in China［J］. Journal of Mechanical Engineering, 2016, 52(7): 1-6. (in Chinese)
［2］田源木, 苏波, 许威. 四足机器人行走决策研究初探［J］. 兵工学报, 2014, 35(增刊1): 57-61.
TIAN Yuan-mu，SU Bo，XU Wei. Preliminary research on walking decision of quadruped robot ［J］. Acta Armamentarii, 2014, 35(S1): 57-61. (in Chinese)
［3］ Estier T, Crausaz Y, Jacques B,et al. An innovative space rover with extended climbing abilities［C］∥Proceedings of IEEE International Conference on Robotics and Automation.San Francisco, CA, US: IEEE, 2000: 333-339.
［4］ Eendo G, Hiros S. Study on roller-walker (multimode steering control and self-contained locomotion)［C］∥Proceedings of IEEE International Conference on Robotics and Automation. San Francisco, CA, US: IEEE, 2000: 2808-2814.
［5］ Nakajima S, Nakano E. Adaptive gait for large rough terrain of a leg-wheel robot (fourth report: step-over gait)［J］. Journal of Robotics and Mechatronics, 2009, 21(2): 7-12.
［6］陈勇, 王昌明, 包建东. 新型爬壁机器人磁吸附单元优化设计［J］. 兵工学报, 2012, 33(12): 1539-1544.
CHEN Yong, WANG Chang-ming, BAO Jian-dong. Optimization of a novel magnetic adsorption unit for wall-climbing robot［J］. Acta Armamentarii, 2012, 33(12): 1539-1544.(in Chinese)
［7］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 Yan-biao, LI Jing-min, JI Shi-ming, 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)
［8］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 Zhen-lin, CUI Bing-yan. Configuration analysis and structure parameter design of six-leg agricultural robot with parallel-leg mechanisms［J］. Transactions of the Chinese Society of Agricultural Engineering, 2012, 28(15): 9-14. (in Chinese)
［9］张豫南, 黄涛, 张舒阳，等. 一种履带式全方位移动平台转向滑移功率比分析［J］. 兵工学报, 2015, 36(8): 1562-1568.
ZHANG Yu-nan, HUANG Tao, ZHANG Shu-yang,et al. Analysis about steering slip power ratio of a tracked omnidirectional mobile platform［J］. Acta Armamentarii, 2015, 36(8): 1562-1568. (in Chinese)

［10］孙扬, 陈慧岩. 无人地面车辆测评体系研究［J］. 兵工学报, 2015, 36(6): 978-986.
SUN Yang, CHEN Hui-yan. Research on test and evaluation of unmanned ground vehicles［J］. Acta Armamentarii, 2015, 36(6): 978-986. (in Chinese)
［11］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 Jin-zhu, JIN Zhen-lin, CHEN Guang-guang. Kinematic analysis of leg mechanism of six-legged walking robot ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2016, 32(9): 45-52. (in Chinese)
［12］刘呈则, 严智, 邓景珊，等. 核电站应急机器人研究现状与关键技术分析［J］. 核科学与工程, 2013, 33(1): 98-105.
LIU Cheng-ze, YAN Zhi, DENG Jing-shan,et al. Study on accident response robot for nuclear power plant and analysis of key technologies［J］. Nuclear Science and Engineering, 2013, 33(1): 98-105. (in Chinese)
［13］刘波, 王欣, 吴王锁，等. 机器人在核与辐射事故应急中的应用展望［J］. 工业安全与环保, 2015, 41(1): 62-64.
LIU Bo, WANG Xin, WU Wang-suo,et al. The application prospect of robot in the nuclear and radiation emergency ［J］. Industrial Safety and Environmental Protection, 2015, 41(1): 62-64. (in Chinese)
［14］ Volpe R, Balaram J, Ohm T,et al. Rocky 7: a next generation mars rover prototype［J］. Advanced Robotics, 1997, 11(4): 341-358.
［15］ Kemurdjian A L.Planet rover as an object of the engineering design work［C］∥Proceedings of the 1998 IEEE International Conference on Robotics & Automation. Leuven , Belgium: IEEE,1998: 140-145.
［16］ COLLINS C. Stiffness modeling and force distribution for the all-terrain hex-limbed extra-terrestrial explorer (ATHLETE) ［C］∥2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. Las Vegas, NV,US: ASME, 2007: 1-9.
［17］ Smith J A, Sharf I, Trintini M T. PAW: a hybrid wheeled-leg robot［C］∥Proceedings of International Conference on Robotics and Automation. Orlando, FL, US: IEEE, 2006: 4043-4048.
［18］ Wang P F, Huang B, Sun L N. Walking research on multi-motion mode quadruped bionic robot based on moving ZMP［C］∥Proceedings of IEEE International Conference on Mechatronics & Automation. Toronto, Ontario, Canada: IEEE, 2005: 1935-1940.
［19］ Endo G，Hirose S. Study on roller-walker -multi-mode steering control and self-contained locomotion)［C］∥Proceedings of the IEEE International Conferences on Robotics and Automation. San Francisco， CA，US: IEEE, 2000: 2808-2813.
［20］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)
［21］荣誉. 基于并联机械腿的六足机器人分析与设计［D］.秦皇岛: 燕山大学, 2015: 17-88.
RONG Yu. Analysis and design for hexapod robots with parallel mechanical legs［D］. Qinhuangdao: Yanshan University, 2015: 17-88. (in Chinese)
［22］荣誉, 金振林. 五自由度并联机械腿静力学性能评价与优化设计［J］. 光学精密工程, 2012, 20(6): 1233-1242.
RONG Yu, JIN Zhen-lin. Statics performance evaluating and optimal design of 5-DOF parallel mechanical leg［J］. Optics and Precision Engineering, 2012, 20(6): 1233-1242. (in Chinese)
［23］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 Zhen-lin,QU Meng-ke. The design of a parallel mechanical leg of the six-legged robot［J］. Optics and Precision Engineering, 2012, 20(7): 1532-1541. (in Chinese)
［24］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 Zhen-lin. 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)
［25］荣誉, 金振林, 曲梦可. 三自由度并联机械腿静力学分析与优化［J］. 农业工程学报, 2012, 28(20): 41-49.
RONG Yu, JIN Zhen-lin, QU Meng-ke. Statics analysis and optimal design of 3-DOF parallel mechanical leg［J］. Transactions of the Chinese Society of Agricultural Engineering, 2012, 28(20): 41-49. (in Chinese)
［26］田兴华, 高峰, 陈先宝, 等. 四足仿生机器人混联腿构型设计及比较［J］. 机械工程学报, 2013, 49(6): 81-88.
TIAN Xing-hua, GAO Feng, CHEN Xian-bao, et al. Mechanism design and comparison for quadruped robot with parallel-serial leg［J］. Journal of Mechanical Engineering, 2013, 49(6): 81-88. (in Chinese)
［27］荣誉, 刘双勇, 韩勇. 六足制孔机器人三自由度并联机械腿的误差模型及验证［J］. 农业工程学报, 2016, 32(18): 18-25.
RONG Yu, LIU Shuang-yong, HAN Yong. Error model and verification of three degrees of freedom parallel mechanical leg on hexapod drilling robot［J］. Transactions of the Chinese Society of Agricultural Engineering, 2016, 32(18): 18-25. (in Chinese)
［28］王洪波,齐政彦,胡正伟,等.并联腿机构在四足/两足可重组步行机器人中的应用［J］.机械工程学报,2009,45(8): 24-30.
WANG Hong-bo, QI Zheng-yan, HU Zheng-wei, et al. Application of parallel leg mechanisms in quadruped/biped reconfigurable walking robot［J］. Journal of Mechanical Engineering, 2009, 45(8): 24-30. (in Chinese)
［29］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 Yue-ling, JIN Zhen-lin, LI Yan-biao. Dynamic modeling and robust-adaptive iterative learning control of 3-RRR spherical parallel mechanism ［J］. Journal of Mechanical Engineering, 2010, 46(1): 68-73. (in Chinese)
［30］ Samper R E. A three degree of freedom parallel manipulator with only translational degrees of freedom ［D］. Maryland: The University of Maryland, 1997: 83-97.
［31］ Tsai L W. Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work ［J］. ASME Journal of Mechanical Design, 2000,122(1): 3-9.
［32］ Samak S M, Gupta K C. Parametric uncertainty on manipulators dynamics ［J］. Mechanism and Machine Theory, 1998, 33(7): 945-956.
［33］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.
HUANG Zhen, ZHAO Yong-sheng, ZHAO Tie-shi. Advanced spatial mechanism ［M］. Beijing: Higher Education Press, 2006: 277-283. (in Chinese)
［34］王振发. 分析力学［M］.北京:科学出版社, 2002: 46-47.
WANG Zhen-fa. Analytical mechanics ［M］. Beijing: Science Press, 2002: 46-47. (in Chinese)

第38卷
第8期2017 年8月兵工学报ACTA
ARMAMENTARIIVol.38No.8Aug.2017

[1]	ZHANG Jianwei, WU Ziqi, ZHANG Fengchao, XING Chengcheng, MENG Fanxing. Study on Similarity and Equivalent Design Method of Steel Plate Targets with Different Materials Based on ModifiedCompensation Model [J]. Acta Armamentarii, 2024, 45(4): 1297-1310.
[2]	LIU Jiangtao, ZHOU Lelai, LI Yibin. Trajectory Tracking and Obstacle Avoidance Control of Six-wheel Independent Drive and Steering Robot in Complex Terrain [J]. Acta Armamentarii, 2024, 45(1): 166-183.
[3]	XU Peng, XING Boyang, LIU Yufei, LI Yongyao, ZENG Yi, ZHENG Dongdong. Anti-disturbance Composite Controller Design of Quadruped Robot Based on Extended State Observer and Model Predictive Control Technique [J]. Acta Armamentarii, 2023, 44(S2): 12-21.
[4]	LIU Siyu, LIAO Junbei, LEI Fei, WANG Zhirui, YAN Tong, DANG Ruina, GUO Zhao. Design and Optimization of a Parallel Elastic Actuator Leg for Quadruped Robots [J]. Acta Armamentarii, 2023, 44(S2): 71-83.
[5]	JIANG Chenxing, YAO Qichang, XU Peng, ZHOU Yuting, YAN Tong. The Transformation of Quadruped and Biped Robot Technologies under the New Technological Situation [J]. Acta Armamentarii, 2023, 44(S2): 84-89.
[6]	JU Shuang, WANG Jing, WANG Hao, ZHOU Meng. Formation Reconfiguration Control of Multiple Mobile Robots with Severe Actuator Faults Based on GWO-WOA [J]. Acta Armamentarii, 2023, 44(S2): 114-125.
[7]	XU Peng, ZHAO Jianxin, FAN Wenhui, QIU Tianqi, JIANG Lei, LIANG Zhenjie, LIU Yufei. Specific Complex Locomotion Skills Control for Quadruped Robots [J]. Acta Armamentarii, 2023, 44(S2): 135-145.
[8]	LI Caoyan, GUO Zhenchuan, ZHENG Dongdong, WEI Yanling. Multi-robot Cooperative Formation Based on Distributed Model Predictive Control [J]. Acta Armamentarii, 2023, 44(S2): 178-190.
[9]	YU Wenjun, CHEN Shengyun, DENG Shuxin, YU Bingbing, JIN Dongyan. Numerical Simulation of the Propagation Law of Explosion Shock Wave in Turning Tunnel [J]. Acta Armamentarii, 2023, 44(S1): 180-188.
[10]	XU Wei, SU Bo, JIANG Lei, YAN Tong, XU Peng, WANG Zhirui, QIU Tianqi. Key Technologies and Application Prospects of Off-road Legged Robot Swarm System [J]. Acta Armamentarii, 2023, 44(9): 2568-2579.
[11]	SU Bo, JIANG Lei, LIU Yufei, XING Boyang, LI Yongyao, TAN Senqi, WANG Zhirui. A Review of Key Technologies for Cross-domain and Trans-medium of Mobile Robotics [J]. Acta Armamentarii, 2023, 44(9): 2556-2567.
[12]	LI Shanshan, WANG Hongbo, CHEN Jianyu, ZHANG Xingchao, TIAN Junjie, NIU Jianye. Gait Control Algorithm and Simulation of New Parallel Quadruped Military Robot [J]. Acta Armamentarii, 2023, 44(3): 895-909.
[13]	SHANG Zhe, WANG Ting, XU Yao, WU Yingbiao, SHAO Peiyao, SHAO Shiliang. Structural Design and Obstacle-surmounting Dynamics Research of Six-wheeled Rocker-type Mobile Robot [J]. Acta Armamentarii, 2023, 44(11): 3478-3488.
[14]	LI Hui, NING Fengping, GUO Hui, LI Ruiqin. Research and Experiment on the Motion Mechanism of a 3-PRPS/RRR Ankle Rehabilitation Mechanism [J]. Acta Armamentarii, 2023, 44(10): 3026-3037.
[15]	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.