Structure design and motion mode analysis of a six wheel-legged robot
-
摘要: 复合运动模式机器人是移动机器人研究的热点之一。轮腿复合式机器人综合了轮式机器人的快速性和腿式机器人的灵活性,能更好地适应复杂地面环境。设计了一种圆周对称的六轮腿式机器人,其新型的轮腿组合方式使其在不增加多余驱动的基础上,通过改变自身构态实现轮腿运动模式的切换,降低了结构的复杂性,避免了轮子当作足在行走过程中磨损造成的不良影响。给出4种典型"3+3"三角周期步态和不同步态行走过程中的等效机构,建立了单腿正运动学和逆运动学模型,分析了不同步态间切换过程。根据机器人的特殊轮腿结构进行了轮腿运动模式切换规划,并分析了轮式运动和轮行过程中的转向问题,建立了4种轮行转弯运动学模型。通过轮腿式机器人样机试验,验证了其步行运动、轮行运动以及不同运动模式切换的能力。Abstract: The research of hybrid locomotion robot has become one of the hottest spots of mobile robots. Wheel-legged robot which combines the advantages of wheeled robot and legged robot can be better adapted to complex environment. A new combination between wheels and legs is proposed and a new circumferential symmetry wheel-legged robot is designed. It can transit its locomotion mode by changing its configuration. Meanwhile, it reduces mechanism complication and avoids the fray of wheels while they are used as feet in legged motion mode. Because of its special structure, four typical "3+3" tripod gaits and the equivalent mechanisms in different walking gaits processes are presented and transition between them is analyzed. The forward and inverse kinematics models of single leg are built. Based on its structure, planning of motion mode transition from wheeled motion mode to legged motion mode and from legged motion mode to wheeled motion mode is given and simulated in software. Its wheeled motion mode and steering problem are analyzed and illustrated,and four steering models are built. Some tests with wheel-legged robot prototype are made to verify its ability of locomotion both in legged mode and wheeled mode and its capability of transition between different motion modes.
-
Key words:
- wheel-legged robot /
- structure design /
- kinematics /
- gait /
- motion mode
-
[1] 田娜,丁希仑,戴建生.一种新型的变结构轮腿式探测车机构设计与分析[J].机械设计与研究,2004,20(z1):268-270. TIAN N,DING X L,DAI J S.Design and analysis of a novel metamorphic wheel-legged rover mechanism[J].Journal of Machine Design and Research,2004,20(z1):268-270(in Chinese). [2] PREUMONT A,ALEXANDRE P,GHUYS D.Gait analysis and implementation of a six leg walking machine[C]//5th International Conference on Advanced Robotics,Robots in Unstructured Environments,IEEE.Piscataway,NJ:IEEE Press,1991:941-945. [3] CHU S K K,PANG G K H.Comparison between different model of hexapod robot in fault-tolerant gait[J].IEEE Transactions on Systems,Man,and Cybernetics,2002,32(6):752-756. [4] 苏军,陈学东,田文罡.六足步行机器人全方位的步态研究[J].机械与电子,2004(3):48-52. SU J,CHEN X D,TIAN W G.A study of the omnidirectional gait for hexapod walking robot[J].Machinery & Electronics,2004(3):48-52(in Chinese). [5] 韩宝玲,王秋丽,罗庆生.六足仿生步行机器人足端工作空间和灵活度研究[J].机械设计与研究,2006,22(4):10-12. HAN B L,WANG Q L,LUO Q S.Mechanical optimization and analyses of hexapod walking bio-robot[J].Machine Design and Research,2006,22(4):10-12(in Chinese). [6] 丁希仑,王志英,ROVETTA A.六边形对称分布六腿机器人的典型步态及运动性能分析[J].机器人,2010,32(6):759-765. DING X L,WANG Z Y,ROVETTA A.Typical gaits and motion analysis of a hexagonal symmetrical hexapod robot[J].Robot,2010,32(6):759-765(in Chinese). [7] 徐坤,丁希仑,李可佳.圆周对称分布六腿机器人三种典型行走步态步长及稳定性分析[J].机器人,2012,34(2):231-241. XU K,DING X L,LI K J.Stride size and stability analysis of a radially symmetrical hexapod robot in three typical gaits[J].Robot,2012,34(2):231-241(in Chinese). [8] SHNRO N,EIJI N,TAKAYUKI T.Motion control technique for practical use of a leg-wheel robot on unknown outdoor rough terrains[C]//Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems,IEEE.Piscataway,NJ:IEEE Press,2004:1353-1358. [9] YLONEN S J,HALME A J.Workpartner-Centaur like service robot[C]//Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems,IEEE.Piscataway,NJ:IEEE Press,2002:727-732. [10] WILCOX B H.ATHLETE:An option for mobile lunar landers[C]//2008 IEEE Aerospace Conference,IEEE.Piscataway,NJ:IEEE Press,2008:1-8. [11] WANG P F,HUANG B,SUN L N.Walking research on multi motion mode quadruped bionic robot based on moving ZMP[C]//IEEE International Conference on Mechatronics and Automation,IEEE.Piscataway,NJ:IEEE Press,2005:1935-1940. [12] 丁希仑,徐坤.一种新型变结构轮腿式机器人的设计与分析[J].中南大学学报,2009,40(S1):91-101. DING X L,XU K.Design and analysis of a novel metamorphic wheel-legged rover mechanism[J].Journal of Central South University,2009,40(S1):91-101(in Chinese). [13] JACOBSEN S,SMITH F M,OLIVIER M,et al.Reconfigurable articulated leg and wheel:US7017687B1[P].2006-03-28. [14] ROHMER E,REINA G,YOSHIDA K.Dynamic simulation-based action planner for a reconfigurable hybrid legwheel planetary exploration rover[J].Advanced Robotics,2010,24(8-9):1219-1238. [15] CRUSE H.What mechanisms coordinate leg movement in walking arthropods [J].Trends in Neurosciences,1990,13(1):15-21. [16] CRUSE H,WEHNER R.No need for a cognitive map:Decentralized memory for insect navigation[J].PLoS Computational Biology,2011,7(3):1-10. [17] BENDER J A,SIMPSON E M,TIETZ B R,et al.Kinematic and behavioral evidence for a distinction between trotting and ambling gaits in the cockroach Blaberus discoidalis[J].The Journal of Experimental Biology,2011,214(12):2057-2064.
点击查看大图
计量
- 文章访问数: 1640
- HTML全文浏览量: 184
- PDF下载量: 792
- 被引次数: 0