【摘要】：提出一種由前輪腿模塊、后輪腿模塊和主動(dòng)腰關(guān)節(jié)模塊組成的輪腿式機(jī)器人.研究發(fā)現(xiàn),擁有剛性腰關(guān)節(jié)模塊的輪腿式機(jī)器人在以對(duì)角小跑步態(tài)行進(jìn)的過程中處于振蕩的非平衡態(tài).為此,借鑒四足動(dòng)物生物學(xué)研究成果以及基于ZMP(零力矩點(diǎn))的實(shí)時(shí)性擺動(dòng)補(bǔ)償軌跡規(guī)劃,本文利用主動(dòng)腰關(guān)節(jié)模塊來提高輪腿式機(jī)器人在間歇性小跑步態(tài)下的穩(wěn)定性.對(duì)上述的輪腿式機(jī)器人進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)建模,通過仿真實(shí)驗(yàn)證實(shí)了添加偏航關(guān)節(jié)的規(guī)律性擺動(dòng)可以大幅減少和改善機(jī)體的傾斜振蕩,機(jī)體的傾斜幅度由原先的62.2 mm降至12.8 mm,明顯提升了機(jī)器人在間歇性小跑步態(tài)下的運(yùn)動(dòng)穩(wěn)定性.
[Abstract]:A wheel-leg robot is proposed, which consists of front wheel leg module, rear wheel leg module and active waist joint module. It is found that the wheel-legged robot with rigid waist joint module is in an oscillating non-equilibrium state during the gait of diagonal trot. In order to improve the stability of wheel-legged robot under intermittent trot gait the active waist joint module is used to improve the stability of wheel-legged robot under intermittent trot gait using ZMP (zero moment point) real-time compensation trajectory planning for reference of quadruped animal biology. The kinematics and dynamics modeling of the wheel-leg robot is carried out. The simulation results show that the regular swing of the yaw joint can greatly reduce and improve the tilt oscillation of the body. The tilt range of the robot decreased from 62.2 mm to 12.8 mm, which significantly improved the stability of the robot under the intermittent trot gait.
【作者單位】： 東南大學(xué)儀器科學(xué)與工程學(xué)院;南京工程學(xué)院自動(dòng)化學(xué)院;
【基金】：國家自然科學(xué)基金(61375076) 江蘇省“六大人才高峰”高層次人才選拔培養(yǎng)項(xiàng)目(WLW-010)
【分類號(hào)】：TP242
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本文編號(hào)：2409676