摘要
针对现有跳跃机器人跳跃时空间姿态旋转问题,从结构与运动控制上入手,设计一种稳定跳跃型机器人。基于弹簧倒立摆跳跃模型在平行四杆机构的基础上设计了一种新型八连杆机构,并利用离合式行星轮结构设计了一种靠卷绳实现能量蓄积与释放装置。利用拐点圆及最小残差理论对末端轨迹进行了近似直线优化处理,并建立了跳跃结构的运动学、动力学模型,进行了跳跃仿真测试。设计了基于模糊PID控制理论的双闭环反馈控制系统,并搭建联合仿真模型从结构动力学及姿态控制系统上进行整体仿真测试。结果表明机器人具备结构上的稳定起跳基础,并通过空中姿态控制实现跳跃后稳定姿态的保持,整体实现了稳定跳跃。
In order to solve the problem of space attitude rotation of jumping robot, a stable jumping robot is designed from the aspects of structure and motion control. According to the basic jump model of spring inverted pendulum, a new type of eight link mechanism is designed based on the parallel four-bar mechanism, and an energy storage and release device is designed by using the clutch planetary wheel structure. The approximate straight-line optimization of the end track is carried out by using the theory of inflexion circle and minimum residual error. The simplified kinematics and dynamics model of the eight link mechanism is established, and the jumping simulation test is carried out. A double closed-loop feedback control system based on fuzzy PID control theory is designed, and a joint simulation model is built to simulate and test the whole structure dynamics and attitude control system. The test shows that the robot has a stable take-off basis in structure, and the stable attitude is maintained after the jump through the air attitude control, and the whole stable jump is realized.
作者
陈子明
卢杰
邓朋
郭玉
李艳文
CHEN Ziming;LU Jie;DENG Peng;GUO Yu;LI Yanwen(Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2020年第23期34-44,共11页
Journal of Mechanical Engineering
基金
国家自然科学基金(51775474)
河北省重点研发计划(19221909D)资助项目。
关键词
跳跃机器人
八连杆
轨迹优化
联合仿真
姿态调控
jumping robot
eight link mechanism
trajectory optimization
co-simulation
attitude control
