六轮腿式机器人结构设计与运动模式分析

doi:10.13700/j.bh.1001-5965.2015.0021

北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (1): 59-71.doi: 10.13700/j.bh.1001-5965.2015.0021

六轮腿式机器人结构设计与运动模式分析

徐坤^1,2, 郑羿¹, 丁希仑¹

1. 北京航空航天大学机械工程及自动化学院, 北京 100083;
2. 哈尔滨工业大学机器人技术与系统国家重点实验室, 哈尔滨 150080

收稿日期:2015-01-11 出版日期:2016-01-20 发布日期:2016-01-28
通讯作者: 徐坤,Tel.:010-82339055E-mail:xk007@buaa.edu.cn E-mail:xk007@buaa.edu.cn
作者简介:徐坤男,博士,讲师。主要研究方向:仿生机器人、可展机构、机器人控制。Tel.:010-82339055E-mail:xk007@buaa.edu.cn;郑羿男,硕士研究生。主要研究方向:机器人结构设计、运动分析。Tel.:010-82314564E-mail:zyfuture@buaa.edu.cn;丁希仑男,博士,教授,博士生导师。主要研究方向:空间机器人、仿生机器人、变胞机构。Tel.:010-82338005E-mail:xlding@buaa.edu.cn
基金资助:
国家杰出青年科学基金(51125020);国家自然科学基金(51305009);机器人技术与系统国家重点实验室开放研究基金;CAST创新基金

Structure design and motion mode analysis of a six wheel-legged robot

XU Kun^1,2, ZHENG Yi¹, DING Xilun¹

1. School of Mechanical Engineering & Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China

Received:2015-01-11 Online:2016-01-20 Published:2016-01-28
Supported by:
National Science Fund for Distinguished Young Scholars(51125020); National Natural Science Foundation of China(51305009); State Key Laboratory of Robotics and System (HIT); CAST Innovation Foundation

摘要/Abstract

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。

关键词: 轮腿式机器人, 结构设计, 运动学, 步态, 运动模式

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

中图分类号:

TP242

徐坤, 郑羿, 丁希仑. 六轮腿式机器人结构设计与运动模式分析[J]. 北京航空航天大学学报, 2016, 42(1): 59-71.

XU Kun, ZHENG Yi, DING Xilun. Structure design and motion mode analysis of a six wheel-legged robot[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2016, 42(1): 59-71.

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六轮腿式机器人结构设计与运动模式分析

Structure design and motion mode analysis of a six wheel-legged robot

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