重载六足液压机器人的行走机构分析
发布时间：2018-08-26 13:13
【摘要】：近年来腿式机器人的研究迅速增多,很多灵活性好、适应能力强的机器人不断渗透到人类生活的方方面面,随着机器人应用范围的不断扩大,人们对机器人的性能提出了更加复杂的要求,这其中包括提高机器人的负载能力,拓展机器人对极端地形的适应能力等等。本文基于一种具有串并联混合机械腿的机器人模型,重点研究行走机构单腿运动特性和装配后的位姿运动特性、行走机构在保证一定稳定性前提下的地形适应能力、行走机构在合理的负载分配方法下的动力需求等。本文参照国内外六足机器人的结构和性能特点,给出了自己的机器人行走机构模型。选择单腿拓补结构为平面缩放机构形式,分析其正逆运动学和工作空间。在整机运动学方面推导机器人位姿与机器人支撑腿关节运动之间的换算方程式,给出关节之间的运动协调关系。对典型步态进行分析,利用稳定裕度的概念分别讨论不同步态下的稳定性指标,就机器人重心高度、水平液压缸行程中心偏置以及行走方向与地面最大坡度方向的偏航角对机器人行走稳定性的影响进行分析。在数学上证明重心越低越稳定的仿生学原理,并绘制另外两个参数的最优组合曲线,提出一种基于稳定性的行走规划办法,对模型在不同坡度不同目标方向下的行走路径进行规划,得出可行走的坡度范围。讨论力控下的使水平无相互作用内力的足端力分配原理和计算公式,以及无力控时机器人在自身刚度作用下的被动足端力分配公式。利用拉格朗日方法推导摆动腿的驱动力方程,确定摆动腿与躯干之间的力相互作用,结合分配好的足端力和计算出的摆动腿反作用力,求出支撑腿关节驱动力范围并设计垂向关节液压系统。
[Abstract]:In recent years, the research of legged robot has been increasing rapidly. Many robots with good flexibility and strong adaptability have penetrated into every aspect of human life. People have put forward more complex requirements for the performance of robots, which include improving the load capacity of robots, expanding the adaptability of robots to extreme terrain, and so on. Based on a robot model with series-parallel hybrid mechanical leg, this paper focuses on the kinematic characteristics of walking mechanism with single leg and position and pose after assembly, and the terrain adaptability of walking mechanism under the premise of certain stability. The power requirement of the walking mechanism under the reasonable load distribution method. According to the structure and performance characteristics of hexapod robot at home and abroad, this paper presents its own walking mechanism model. The single leg extension structure is selected as the plane scaling mechanism, and its forward and inverse kinematics and workspace are analyzed. In the aspect of kinematics of the whole machine, the conversion equation between the robot posture and the motion of the robot supporting leg joint is deduced, and the kinematic coordination relationship between the joints is given. Based on the analysis of typical gait, the stability index under different gait is discussed by using the concept of stability margin, and the height of center of gravity of robot is discussed. The influence of the offset of the stroke center of the horizontal hydraulic cylinder and the yaw angle between the walking direction and the maximum slope direction of the ground on the walking stability of the robot is analyzed. The bionic principle that the center of gravity is lower and more stable is proved in mathematics, and the optimal combination curve of the other two parameters is drawn, and a stably based walking planning method is proposed. The walking path of the model under different slope and target direction is planned, and the range of walkable slope is obtained. This paper discusses the principle and calculation formula of the foot force distribution under the force control, and the passive foot force distribution formula of the robot under the action of its own stiffness when it is unable to control. Using the Lagrange method to deduce the driving force equation of the swing leg, the interaction between the swing leg and the torso is determined, combined with the distributed foot force and the calculated reaction force of the swing leg. The driving force range of supporting leg joint is obtained and the hydraulic system of vertical joint is designed.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2204967
[Abstract]:In recent years, the research of legged robot has been increasing rapidly. Many robots with good flexibility and strong adaptability have penetrated into every aspect of human life. People have put forward more complex requirements for the performance of robots, which include improving the load capacity of robots, expanding the adaptability of robots to extreme terrain, and so on. Based on a robot model with series-parallel hybrid mechanical leg, this paper focuses on the kinematic characteristics of walking mechanism with single leg and position and pose after assembly, and the terrain adaptability of walking mechanism under the premise of certain stability. The power requirement of the walking mechanism under the reasonable load distribution method. According to the structure and performance characteristics of hexapod robot at home and abroad, this paper presents its own walking mechanism model. The single leg extension structure is selected as the plane scaling mechanism, and its forward and inverse kinematics and workspace are analyzed. In the aspect of kinematics of the whole machine, the conversion equation between the robot posture and the motion of the robot supporting leg joint is deduced, and the kinematic coordination relationship between the joints is given. Based on the analysis of typical gait, the stability index under different gait is discussed by using the concept of stability margin, and the height of center of gravity of robot is discussed. The influence of the offset of the stroke center of the horizontal hydraulic cylinder and the yaw angle between the walking direction and the maximum slope direction of the ground on the walking stability of the robot is analyzed. The bionic principle that the center of gravity is lower and more stable is proved in mathematics, and the optimal combination curve of the other two parameters is drawn, and a stably based walking planning method is proposed. The walking path of the model under different slope and target direction is planned, and the range of walkable slope is obtained. This paper discusses the principle and calculation formula of the foot force distribution under the force control, and the passive foot force distribution formula of the robot under the action of its own stiffness when it is unable to control. Using the Lagrange method to deduce the driving force equation of the swing leg, the interaction between the swing leg and the torso is determined, combined with the distributed foot force and the calculated reaction force of the swing leg. The driving force range of supporting leg joint is obtained and the hydraulic system of vertical joint is designed.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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