连续电驱动四足机器人腿部机构设计与分析

doi:10.13973/j.cnki.robot.170443

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (865 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
柏龙, 龙樟, 陈晓红, 江沛, 陈锐, 官渐. 连续电驱动四足机器人腿部机构设计与分析[J]. 机器人, 2018, 40(2): 136-145.DOI: 10.13973/j.cnki.robot.170443. BAI Long, LONG Zhang, CHEN Xiaohong, JIANG Pei, CHEN Rui, GUAN Jian. Design and Analysis of a Leg Mechanism for a Continuous Electrically-Driven Quadruped Robot. ROBOT, 2018, 40(2): 136-145. DOI: 10.13973/j.cnki.robot.170443.

摘要提出了一种四足机器人腿部的连续电驱动（即电机整周转动驱动腿部实现摆转跨步动作）方案，设计了一种具有由切比雪夫机构、五杆机构组成的2自由度双曲柄复合连杆机构的机器人腿部结构．分析了动物的足端轨迹特性，采用轨迹圆滑、无突变、导数连续的椭圆曲线规划了机器人足端运动轨迹．以规划的足端轨迹再现为优化目标，采用遗传算法与fmincon函数内点法计算得到了腿部机构杆长的最佳尺寸．在此基础上，建立了机器人仿真模型，通过Adams仿真分析了机器人腿部机构的足端运动特性，并研制了腿部结构性能测试平台．完成了单腿足端运动轨迹跟踪实验，验证了腿部结构设计方案的可行性．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	柏龙
	龙樟
	陈晓红
	江沛
	陈锐
	官渐

关键词 ：连续电驱动, 四足机器人, 腿部机构, 优化设计, 多连杆机构

Abstract：A continuous electric driving scheme for quadruped robot leg (that is, the motor rotates cyclically to drive the leg to swing and step) is proposed. A robot leg structure with two-degree-of-freedom double crank composite link mechanism is designed, which is composed of a Chebyshev mechanism and a five-bar mechanism. The trajectory characteristics of animal foot are analyzed, and the elliptic curve with smooth trajectory, no mutation and continuous derivative is used to plan robot foot trajectory. With the implementation of the planned foot trajectory as the optimization objective, the optimum size of leg mechanism is obtained with the genetic algorithm and the interior point method in fmincon function. On this basis, a simulation model of quadruped robot is built, and the motion characteristics of foot are analyzed through Adams simulation. A performance test platform for leg structure is also developed. The experiment of single foot motion trajectory tracking is conducted to verify the feasibility of the proposed robot leg structure.

Key words： continuous electrically driven quadruped robot leg mechanism optimization design multi-linkage mechanism

收稿日期: 2017-07-20 录用日期: 2017-10-16

TP242

基金资助:国家自然科学基金（51405046，51705050，51505044）；重庆市基础科学与前沿技术研究专项（cstc2016jcyjA0472）；中国兵器工业集团高等院校协同创新合作专项（KH2016006）；重庆市研究生科研创新项目（CYS17020，CYS17021）

通讯作者: 柏龙,bailong@cqu.edu.cn E-mail: bailong@cqu.edu.cn

作者简介: 柏龙(1982-),男,博士,副教授.研究领域:仿生机构与特种机器人,医疗与养老助残机器人,高性能轻量化材料与结构一体化设计;
龙樟(1992-),男,硕士生.研究领域:仿生机构与特种机器人.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.170443 或 https://robot.sia.cn/CN/Y2018/V40/I2/136

[1] Wooden D, Malchano M, Blankespoor K, et al. Autonomous navigation for BigDog[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2010: 4736-4741.
[2] Murphy M P, Saunders A, Moreira C, et al. The LittleDog robot[J]. International Journal of Robotics Research, 2011, 30(2): 145-149.
[3] Boston Dynamics. LS3-Legged squad support systems[EB/OL]. [2017-07-10]. https://www.bostondynamics.com/ls3.
[4] Boston Dynamics. WildCat-The world's fastest quadruped ro-bot[EB/OL]. [2017-07-10]. https://www.bostondynamics.com/wildcat.
[5] Seok S, Wang A, Chuah M Y, et al. Design principles for energy-efficient legged locomotion and implementation on the MIT cheetah robot[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(3): 1117-1129.
[6] 田兴华,高峰,陈先宝,等.四足仿生机器人混联腿构型设计及比较 [J].机械工程学报,2013,49(6):81-88.Tian X H, Gao F, Chen X B, et al. Mechanism design and comparison for quadruped robot with parallel-serial leg[J]. Journal of Mechanical Engineering, 2013, 49(6): 81-88.
[7] 王鑫.类豹型四足机器人高速运动及其控制方法研究 [D].哈尔滨:哈尔滨工业大学,2013.Wang X. The locomotion and control method of the cheetah robot for ultar high speed running[D]. Harbin: Harbin Institute of Technology, 2013.
[8] 徐瑞哲.首个高机动性小型四足机器狗,能跑会跳有望做导盲犬 [EB/OL].(2015-08-04) [2017-06-05]. http://sh.eastday.com/m/20150804/u1a8823245.html.Xu R Z. The first highly mobile four legged robot dog that can run and jump is expected to be a guide dog [EB/OL]. (2015-08-04) [2017-06-05]. http://sh.eastday.com/m/20150804/u1a8823245.html.
[9] 李贻斌,李彬,荣学文,等.液压驱动四足仿生机器人的结构设计和步态规划 [J].山东大学学报:工学版,2011,41(5):32-36,45.Li Y B, Li B, Rong X W, et al. Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot[J]. Journal of Shandong University: Engineering Science, 2011, 41(5): 32-36,45.
[10] 庄红超.电驱动大负重比六足机器人结构设计及其移动特性研究 [D].哈尔滨:哈尔滨工业大学,2014.Zhuang H C. Electrically driven large-load-ratio six-legged robot structural design and its mobile characteristics research [D]. Harbin: Harbin Institute of Technology, 2014.
[11] Semini C. HyQ-Design and development of a hydraulically actuated quadruped robot[D]. Genoa, Italy: Italian Institute of Technology, 2010.
[12] 张国腾,荣学文,李贻斌,等.基于虚拟模型的四足机器人对角小跑步态控制方法 [J].机器人,2016,38(1):64-74.Zhang G T, Rong X W, Li Y B, et al. Control of the quadrupedal trotting based on virtual model [J]. Robot, 2016, 38(1): 64-74.
[13] Park J, Kim K S, Kim S. Design of a cat-inspired robotic leg for fast running [J]. Advanced Robotics, 2014, 28(23): 1587-1598.
[14] Cotton S, Mihai I, Olaru C, et al. FastRunner: A fast, efficient and robust bipedal robot. Concept and planar simulation[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2012: 2358-2364.
[15] Waldron K J, McGhee R B. The adaptive suspension vehicle[J]. IEEE Control Systems Magazine, 2003, 6(6): 7-12.
[16] McCarthy J M, Soh G S. Geometric design of linkages[M]. New York, USA: Springer-Verlag, 2000.
[17] 夏定玲.双自由度五杆机构的轨迹综合及优化设计研究 [D].武汉:华中科技大学,2007.Xia D L. The research of trajectory synthesis and optimal design of two-DOF planar five-bar linkage[D]. Wuhan:Huazhong University of Science and Technology, 2007.
[18] Hildebrand M. Further studies on locomotion of the cheetah[J]. Journal of Mammalogy, 1961, 42(1): 84-91.
[19] Yin P, Wang P F, Li M T, et al. A novel control strategy for quadruped robot walking over irregular terrain[C]//IEEE 5th International Conference on Robotics, Automation and Mechatronics. Piscataway, USA: IEEE, 2011: 184-189.
[20] 许涛,陈启军.四腿机器人步态参数自动进化研究与实现 [J].机器人,2009,31(1):72-76.Xu T, Chen Q J. Research and implementation of automatic gait evolution for 4-legged robot[J]. Robot, 2009, 31(1): 72-76.
[21] 李满宏,张小俊,张建华,等.面向给定轨迹的六足机器人多足协调控制 [J].华中科技大学学报:自然科学版,2015,43(4):32-37.Li M H, Zhang X J, Zhang J H, et al. Given trajectory oriented multi-legged coordinated control of hexapod robot[J]. Journal of Huazhong University of Science & Technology: Nature Science, 2015, 43(4): 32-37.
[22] 王立鹏,王军政,汪首坤,等.基于足端轨迹规划算法的液压四足机器人步态控制策略 [J].机械工程学报,2013,49(1):39-44.Wang L P, Wang J Z, Wang S K, et al. Strategy of foot trajectory generation for hydraulic quadruped robots gait planning [J]. Journal of Mechanical Engineering, 2013, 49(1): 39-44.
[23] 席磊.四足仿生机器人步态规划及行走稳定性研究 [D].长沙:国防科学技术大学,2013.Xi L. Gait planning and walking stability research of quadruped bionic robot[D]. Changsha: National University of Defense Technology, 2013.
[24] 雷英杰,张善文.MATLAB遗传算法工具箱及应用 [M].西安:西安电子科技大学出版社,2014.Lei Y J, Zhang S W. MATLAB genetic algorithm toolbox and its application[M]. Xi'an: Xi'an Electronic and Science University Press, 2014.