【摘要】：為提高仿蟹機(jī)器人橫行步態(tài)的運(yùn)動(dòng)穩(wěn)定性、降低系統(tǒng)能耗,本文以規(guī)范化能量穩(wěn)定裕量和能耗比作為步態(tài)優(yōu)劣評價(jià)指標(biāo),對仿蟹機(jī)器人的步序和步態(tài)參數(shù)進(jìn)行了規(guī)劃研究。在動(dòng)力學(xué)分析的基礎(chǔ)上,建立了機(jī)器人足端腳力的多約束方程,利用偽逆法對機(jī)器人各關(guān)節(jié)力矩進(jìn)行優(yōu)化分配,在考慮直流電機(jī)的有效功率和熱損耗的基礎(chǔ)上,構(gòu)建了仿蟹機(jī)器人能耗比數(shù)學(xué)模型。以多足機(jī)器人常采用的等相位步態(tài)為例,分析了步行速度、占地系數(shù)、步長和機(jī)體同側(cè)相鄰步行足相位差對系統(tǒng)能耗和穩(wěn)定性的影響。結(jié)果顯示:隨著機(jī)體同側(cè)相鄰步行足相對相位的增加,仿蟹機(jī)器人的運(yùn)動(dòng)效率降低,但穩(wěn)定性有所改善;在特定的步進(jìn)速度和步態(tài)占地系數(shù)下,通過合理選擇相對相位能夠節(jié)省系統(tǒng)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，

本文編號：2473890