液压驱动四足机器人被动缓冲特性分析

发布时间：2018-10-30 16:41

【摘要】：四足机器人运动灵活,地形环境适应性强,在探险、探测、抢险救灾,军事战争等领域潜力巨大。行走时机器人足端不断冲击地面,极易损坏机器人本体及其控制系统,因此,缓冲装置的设计十分关键。针对隔离着地冲击的需要,研究针对现有的机器人仅在腿部加装弹簧缓冲方式,按照从驱动油缸到单腿机构再到机器人整体的研究顺序,提出了缓冲方案,并进行了缓冲性能仿真及试验研究。论文主要研究内容如下:(1)基于仿生四足动物关节缓冲机制,设计了一种在机器人腿部各个关节处施加缓冲装置的方案,保护了机器人机械系统、控制系统和液压系统,实现了四足机器人行进速度和稳定性的提高。(2)建立四足机器人驱动油缸仿真模型,对静止和工作两种工况下进行了重物自由落体冲击仿真分析,证明驱动油缸集成微型蓄能器的被动缓冲方案具有良好的缓冲效果,无杆腔内冲击压力峰值仅为原方案的25%左右,并设计冲击试验平台对无杆腔压力进行对比分析,验证了驱动油缸冲击仿真模型结果的正确性。(3)建立了四足机器人单腿机构仿真模型,仿真分析了单腿机构自由落体冲击和原地起跳冲击下机构的力学特性,得出在驱动油缸上串联弹簧的缓冲方案对单腿机构具有较好的缓冲效果。(4)建立了四足机器人整体机构仿真模型,基于四足机器人对角小跑(trot)步态规划其足端轨迹,通过运动学逆解运算求得各关节处驱动油缸的活塞运动轨迹。仿真分析了驱动油缸未串联弹簧时的行走冲击和串联弹簧后的行走冲击特性,通过对比加速度与关节力曲线,证明驱动油缸串联弹簧的方案有效可行。通过对仿生液压驱动油缸、单腿机构和机器人整机进行缓冲仿真研究和试验分析,获得了四足机器人行走冲击力特性曲线,对四足机器人的缓冲机构的研究开发提供了依据。本课题受到国家863计划项目"面向野外环境的四足仿生机器人实用技术研发(2015AA042201)"的资助。
[Abstract]:Quadruped robot has great potential in exploration, detection, rescue and disaster relief, military war and so on. It is easy to damage the robot body and its control system because of the impact of the robot foot on the ground. Therefore, the design of the buffer device is very important. Aiming at the need of isolating landing impact, the paper puts forward a buffer scheme according to the research order from driving oil cylinder to single leg mechanism and then to the whole robot, aiming at the existing robot with only adding spring buffer in the leg, and then according to the research order of driving oil cylinder, single leg mechanism and robot as a whole. The buffer performance is simulated and tested. The main contents of this paper are as follows: (1) based on the joint buffer mechanism of bionic quadruped animal, a scheme of applying buffer device to each joint of the robot leg is designed to protect the robot mechanical system, control system and hydraulic system. The speed and stability of quadruped robot are improved. (2) the simulation model of four-legged robot driving cylinder is established. It is proved that the passive buffer scheme of driving cylinder integrated micro accumulator has good buffer effect, the peak value of impact pressure in rodless cavity is only about 25% of the original scheme, and the impact test platform is designed to compare and analyze the rodless cavity pressure. The correctness of the model is verified. (3) the one-legged mechanism simulation model of quadruped robot is established, and the mechanical characteristics of single-legged mechanism under free-fall impact and in-situ take-off impact are simulated and analyzed. It is concluded that the buffer scheme of series spring on the drive cylinder has a better buffer effect on the single-legged mechanism. (4) the simulation model of the four-legged robot is established, and the foot trajectory is planned based on the diagonal trot (trot) gait of the quadruped robot. The kinematic inverse solution is used to obtain the piston motion trajectory of the cylinder driven at each joint. The walking impact of the cylinder without the series spring and the walking impact characteristics after the series spring are simulated and analyzed. By comparing the acceleration curve with the joint force curve, it is proved that the scheme of driving the oil cylinder series spring is effective and feasible. Through the simulation and experimental analysis of the hydraulic cylinder, single-legged mechanism and the whole robot, the characteristic curve of the walking impact force of the four-legged robot is obtained, which provides the basis for the research and development of the four-legged robot's buffer mechanism. The project is supported by the National 863 Program, "practical technology development of quadruped bionic robot for field environment (2015AA042201)".
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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