仿蟹机器人横行步态运动稳定性及能耗分析
发布时间：2019-05-10 18:14
【摘要】：为提高仿蟹机器人横行步态的运动稳定性、降低系统能耗,本文以规范化能量稳定裕量和能耗比作为步态优劣评价指标,对仿蟹机器人的步序和步态参数进行了规划研究。在动力学分析的基础上,建立了机器人足端脚力的多约束方程,利用伪逆法对机器人各关节力矩进行优化分配,在考虑直流电机的有效功率和热损耗的基础上,构建了仿蟹机器人能耗比数学模型。以多足机器人常采用的等相位步态为例,分析了步行速度、占地系数、步长和机体同侧相邻步行足相位差对系统能耗和稳定性的影响。结果显示:随着机体同侧相邻步行足相对相位的增加,仿蟹机器人的运动效率降低,但稳定性有所改善;在特定的步进速度和步态占地系数下,通过合理选择相对相位能够节省系统能耗20%~30%。
[Abstract]:In order to improve the motion stability of crab-like robot and reduce the energy consumption of the system, the gait order and gait parameters of crab-like robot are planned and studied by using standardized energy stability margin and energy consumption ratio as gait evaluation indexes. Based on the dynamic analysis, the multi-constraint equation of the foot force of the robot is established, and the torque of each joint of the robot is optimized by using the pseudo-inverse method, and the effective power and heat loss of the DC motor are considered. A mathematical model of energy consumption ratio of crab-like robot is constructed. Taking the equal phase gait commonly used by multilegged robots as an example, the effects of walking speed, occupation coefficient, step size and the phase difference of adjacent walking feet on the energy consumption and stability of the system are analyzed. The results show that with the increase of the relative phase of the walking foot on the same side of the body, the motion efficiency of the crab-like robot decreases, but the stability is improved. Under the specific step speed and gait occupation coefficient, the energy consumption of the system can be saved by 20% 鈮，
本文编号：2473890
[Abstract]:In order to improve the motion stability of crab-like robot and reduce the energy consumption of the system, the gait order and gait parameters of crab-like robot are planned and studied by using standardized energy stability margin and energy consumption ratio as gait evaluation indexes. Based on the dynamic analysis, the multi-constraint equation of the foot force of the robot is established, and the torque of each joint of the robot is optimized by using the pseudo-inverse method, and the effective power and heat loss of the DC motor are considered. A mathematical model of energy consumption ratio of crab-like robot is constructed. Taking the equal phase gait commonly used by multilegged robots as an example, the effects of walking speed, occupation coefficient, step size and the phase difference of adjacent walking feet on the energy consumption and stability of the system are analyzed. The results show that with the increase of the relative phase of the walking foot on the same side of the body, the motion efficiency of the crab-like robot decreases, but the stability is improved. Under the specific step speed and gait occupation coefficient, the energy consumption of the system can be saved by 20% 鈮，
本文编号：2473890
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