杨传潇, 丁亮, 唐德威, 高海波, 邓宗全. 机器人单足系统-沙土塑性接触力学建模及验证[J]. 机器人, 2019, 41(4): 473-482,506. DOI: 10.13973/j.cnki.robot.180526
引用本文: 杨传潇, 丁亮, 唐德威, 高海波, 邓宗全. 机器人单足系统-沙土塑性接触力学建模及验证[J]. 机器人, 2019, 41(4): 473-482,506. DOI: 10.13973/j.cnki.robot.180526
YANG Chuanxiao, DING Liang, TANG Dewei, GAO Haibo, DENG Zongquan. Modeling and Verification of Plastic Interaction Mechanics betweenRobotic Single-legged System and Sand[J]. ROBOT, 2019, 41(4): 473-482,506. DOI: 10.13973/j.cnki.robot.180526
Citation: YANG Chuanxiao, DING Liang, TANG Dewei, GAO Haibo, DENG Zongquan. Modeling and Verification of Plastic Interaction Mechanics betweenRobotic Single-legged System and Sand[J]. ROBOT, 2019, 41(4): 473-482,506. DOI: 10.13973/j.cnki.robot.180526

机器人单足系统-沙土塑性接触力学建模及验证

Modeling and Verification of Plastic Interaction Mechanics betweenRobotic Single-legged System and Sand

  • 摘要: 为了更好地实现足式移动机器人在柔软流动性地面的仿真以及反馈控制,提出了机器人单足系统与沙土(柔性地面环境)接触力学的模型.该模型讨论并继承了部分经典土力学中极限承载力理论的假设条件,并加以拓展和深化,分别建立了机器人硬质足、柔性足与沙土环境的接触力学模型.与其他模型相比,该模型充分考虑了接触面和滑裂面的外形特征,且参数均为常用已测物理参数而不需要在线的辨识过程.设计、加工并搭建了机器人单足式移动平台,完成了单足系统移动平台与沙土环境准静态和动态冲击状态下的相互作用实验.实验和仿真预测结果的对比表明,预测结果与样本数据结果的总误差为8.97%,验证了塑性接触力学模型的准确性和预测足地接触变形时力学行为的有效性.

     

    Abstract: In order to achieve a better simulation and feedback control performance for legged robot on the soft terrain surface with fluidity, an interaction mechanical model between the robotic single-legged system and the sand (as a soft terrain environment) is proposed, in which some assumptions in ultimate bearing capacity theories from conventional soil mechanics are discussed and inherited. After expansion and deepening of it, the interaction mechanics models of rigid and soft feet with the sand are established, respectively. Compared with other models, the proposed model comprehensively considers the shape characteristics of the interaction surface and the sliding surface, and its parameters are the commonly-used well-measured physical parameters, which means the online identification process is no longer necessary. Finally, a mobile platform of the robotic single-legged system is designed, machined, and established. The experiments of the single-legged system interacting with the sand are carried out in both quasi-static and dynamic impact collision states. Comparison between the experimental results and the simulation predictions shows that the total error between the prediction results and the sampling data is 8.97%. Not only the accuracy of the plastic contact mechanics model is verified, but also the validity of the mechanical behaviour prediction of the foot-terrain contact deformation.

     

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