摘要
研究了一种偏心轮构造的六足机器人,介绍了其基本的机械结构,并使用稳定锥方法对其建立了爬坡时的运动模型以及力学约束.设计了一种呈波浪形式的爬坡步态,对这种运动模式下的机器人最易倾翻的姿态进行了分析,结合其机械结构特征,使用稳定锥方法验证了机器人运行的稳定性,求出了机器人爬坡时的坡度临界角,并进行了仿真和实物实验验证.在采用此机械结构以及使用相应的爬坡步态的情况下,机器人能够有较好的爬坡表现,实验环境中测得机器人稳定爬坡角度最大可至33°左右.
In the current application of robots,the robot system is required to have a high adaptability to unstructured environment.In this paper,a hexapod robot with eccentric wheels was studied,and its basic mechanical structure was introduced.The motion model and mechanical constraints of the hexapod robot when climbing a slope were established based on the stable cone method.A wave-like climbing gait was designed.The most easily overturning posture of the robot in this motion mode was analyzed.Combining with its mechanical structure characteristics,the stability of the robot was verified by using the stable cone method.The critical slope angle of the robot during climbing was obtained and verified by simulation and physical experiments.In this mechanical structure and the use of the corresponding climbing gait,the robot can have better climbing performance.The maximum stable climbing angle of the robot can be measured in the experimental environment to be about 33 degrees.
作者
李晓理
张超
赵艳领
朱晓庆
薛艾琳
LI Xiao-li;ZHANG Chao;ZHAO Yan-ling;ZHU Xiao-qing;XUE Ai-lin(Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China;Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing 100124, China;Engineering Research Center of Digital Community Ministry of Education, Beijing 100124, China;Beijing Advanced Innovation Center for Future Internet Technology, Beijing 100124, China;Instrumentation Technology & Economy Institute, Beijing 100055, China)
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2020年第9期994-1001,共8页
Transactions of Beijing Institute of Technology
基金
国家自然科学基金资助项目(61873006,61473034,61673053)
北京市科学重大专项项目(Z181100003118012)
国家重点研发计划项目(2018YFC1602704,2018YFB1702704)。
关键词
六足机器人
偏心轮足
波浪步态
爬坡稳定性
稳定锥方法
hexapod robot
eccentric-wheel foot
wave gait
slope climbing stability
stabilization cone method