电动并联六轮足机器人的运动驱动与多模态控制方法

doi:10.13973/j.cnki.robot.190524

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陈志华, 汪首坤, 王军政, 徐康, 王修文, 刘道和, 雷涛, 司金戈. 电动并联六轮足机器人的运动驱动与多模态控制方法[J]. 机器人, 2020, 42(5): 534-549.DOI: 10.13973/j.cnki.robot.190524. CHEN Zhihua, WANG Shoukun, WANG Junzheng, XU Kang, WANG Xiuwen, LIU Daohe, LEI Tao, SI Jinge. Motion Drive and Multi-mode Control Method of an Electric Parallel Six Wheel-Legged Robot. ROBOT, 2020, 42(5): 534-549. DOI: 10.13973/j.cnki.robot.190524.

摘要提出一种并联六轮足移动机器人．该机器人设有多模式Stewart型腿结构，其负载能力大，集成了轮式运动和足式运动的优点，可实现足式、轮式、轮足复合式运动．首先，阐述了机器人设计思路，对电动并联六轮足机器人的硬件系统和控制系统进行设计．其次，针对足式运动模式，设计了一套完整的足式“三角”步态和稳定行走算法，该算法可降低足端与地面之间的垂直方向冲击，防止足式运动拖腿或打滑；针对轮式运动模式，设计并介绍了6轮协同控制和轮式协同转向原理；针对轮足复合式运动模式，介绍了变高度、变支撑面、变轮距、主动隔振控制原理，重点分析了主动隔振控制和变轮距控制，可实现主动隔振及姿态平稳控制，提高了机器人在崎岖颠簸地形下的轮足复合式运动的稳定性．最后，对电动并联六轮足机器人的足式、轮式、轮足复合式运动模式进行实验，实验结果验证了本文提出的并联六轮足移动机器人设计的可行性和各运动模式下驱动与控制算法的有效性．

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	王修文
	刘道和
	雷涛
	司金戈
	陈志华
	汪首坤
	王军政
	徐康

关键词 ：轮足移动机器人, 足式运动, 轮式运动, 轮足复合式运动, 驱动与控制

Abstract：A parallel six wheel-legged mobile robot is proposed. The robot adopts a multi-mode Stewart leg structure with large load capacity, which integrates the advantages of wheeled motion and legged motion, and can realize legged, wheeled and wheel-legged compound motions. Firstly, the design idea of the robot is described, and the hardware system and control system of the electric parallel six wheel-legged robot are designed. Secondly, a complete set of legged "triangle" gaits and a stable walking algorithm are designed for the legged motion mode, which can reduce the vertical impact between the foot and the ground, and prevent foot motion from dragging or skidding. For the wheeled motion mode, the principles of cooperative control and steering of 6 wheels are designed and introduced. For the wheel-legged compound motion mode, the principles of variable height, variable support surface, variable wheel track and active vibration isolation controls are introduced with the analysis emphasis on active vibration isolation control and variable wheel track control, which can realize active vibration isolation and attitude stabilization control, and improve the stability of the wheel-legged compound motion of the robot on rough terrain. Finally, the legged, wheeled and wheel-legged compound motion modes of the electric parallel six wheel-legged robot are tested. The experimental results verify the feasibility of the design of the parallel six wheel-legged mobile robot and the effectiveness of the driving and control algorithm of each motion mode.

Key words： wheel-legged mobile robot legged motion wheeled motion wheel-legged compound motion driving and control

收稿日期: 2019-09-29 录用日期: 2020-05-06

TP242

基金资助:国家自然科学基金（61773060）

通讯作者: 汪首坤,bitwsk@bit.edu.cn E-mail: bitwsk@bit.edu.cn

作者简介: 陈志华(1991-),男,博士生.研究领域:机器人步态规划与运动控制.
汪首坤(1977-),男,博士,副教授.研究领域:运动驱动与控制,电液伺服系统静动态性能测试.
王军政(1964-),男,博士,教授.研究领域:伺服运动驱动与控制,机器人控制,负载模拟与静动态试验.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.190524 或 https://robot.sia.cn/CN/Y2020/V42/I5/534

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