气动柔性六足机器人定半径转弯实现方法与稳定性

doi:10.13229/j.cnki.jdxbgxb20181071

摘要/Abstract

摘要：

针对气动柔性关节仿生六足机器人提出基于三角步态和重心轨迹跟踪法的定半径转弯步态规划方法。采用预设机器人步态转角和转弯半径逆向建立转动过程中机器人重心轨迹模型，获得机器人足部的落足点位置,并进行了机器人重心轨迹仿真，研究了重心规划轨迹与理想轨迹的偏离误差。根据静态稳定裕度模型建立了最大步态转角模型，并以此作为判据分析机器人定半径转弯步态规划的稳定性。利用三维运动捕捉系统进行了机器人定点和定半径转弯性能实验，获得了不同步态转角和转弯半径下机器人的转弯性能，验证了转弯步态规划方法的正确性。该机器人动作灵活，可实现任意半径转弯，当规划步态转角小于最大步态转角时机器人转弯过程行进平稳。

关键词: 机械制造自动化, 六足机器人, 柔性关节, 气压驱动, 定半径转弯

Abstract:

According to the structures and functions of the hexapod robot, this paper explores a method to complete turning with constant radius based on the triangle gait and center of gravity trajectory tracking. The gravity trajectory model of hexapod robot in the rotation process is reversely established with predefined rotation angle and turning radius by tracking the center of gravity of the robot. Then the gravity trajectories of the hexapod robot are simulated and the deviation errors between the ideal trajectories and planed trajectories of the center of gravity are investigated. Also, the maximum gait rotation angle model is established according to the static stability margin model. The experiments on turning performance with fixed point or constant radius of the hexapod robot are performed and the turning performance of hexapod robot is studied with different gait rotation angle and turning radius by analyzing the work space of foot of robot. The simulation and experiment results prove the reasonability and validity of turning gait planning method. The hexapod robot is flexible to turn at any radius and it moves more smoothly and steadily when the planning gait angle is smaller than the maximum gait angle.

Key words: mechanical manufacturing and automation, hexapod robot, flexible joint, pneumatic drive, turning with constant radius

中图分类号:

TH138.5

赵云伟,耿德旭,刘晓敏,刘齐. 气动柔性六足机器人定半径转弯实现方法与稳定性[J]. 吉林大学学报(工学版), 2020, 50(2): 472-482.

Yun-wei ZHAO,De-xu GENG,Xiao-min LIU,Qi LIU. Implementation and stability on turning with constant radius of pneumatic flexible hexapod robot[J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 472-482.

图/表 20

图1

图2

图3

图4

图5

图6

图7

表1

图8

图9

表2

表3

表4

定点转弯时实际步态转角和偏心距"

项目	规划步态转角/（°）
项目	5	10	15
$γ$ /（°）	3.60	6.70	13.90
L/mm	4.65	6.42	8.74

表4

表5

定半径转弯时实际步态转角和偏心距"

项目	转弯半径/mm
项目	50	100	200
$γ$ /（°）	3.90	4.10	2.80
L/mm	3.55	3.83	10.33

表5

图10

图11

图12

图13

图14

图15

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实验条件	值
系统采样频率/Hz	800
压强/MPa	0.15、0.25、0.35
机器人步频/Hz	1
负载/g	500

γ/(°)
	足2			足4			足6
	4	5	6	10	11	12	16	17	18
5	0.35	0.05	0.00	0.10	0.30	0.15	0.05	0.10	0.30
10	0.25	0.30	0.00	0.10	0.25	0.15	0.10	0.15	0.25
15	0.35	0.25	0.05	0.15	0.30	0.25	0.05	0.15	0.35

r/mm
	足2			足4			足6
	4	5	6	10	11	12	16	17	18
50	0.10	0.10	0.10	0.00	0.25	0.15	0.16	0.18	0.25
100	0.05	0.10	0.15	0.06	0.24	0.16	0.15	0.18	0.27
200	0.00	0.18	0.20	0.05	0.22	0.20	0.10	0.18	0.30

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