Two-wheeled Power-assist Trailer Payload Based on Force Control

doi:10.12382/bgxb.2023.0898

Abstract

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

CLC Number:

TP249

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.

Figures/Tables 17

Fig.1 Typical wheel-legged robot

Fig.2 Small electric transport vehicles at home and abroad

Fig.3 Overall structure diagram of trailer robot

Fig.4 Simplified mechanism model of trailer

Fig.5 Differential motion model of two-wheel trailer

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

Fig.7 Block diagramof control system of trailer robot

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

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

Fig.9 Motion simulation data of trailer robots

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

Fig.11 Force sensor data in the static state

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

Fig.13 Uphill and downhill traction test of trailer robots

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

Fig.15 Off-road traction test of trailer robots

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

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