一种基于并联6自由度结构的电动轮足机器人  

An Electric Wheel-Foot Robot Based on Parallel 6-DOF Structure

作　　者：刘冬琛 王军政[1,2] 汪首坤[1,2] 沈伟[1,2] 彭辉 LIU Dongchen;WANG Junzheng;WANG Shoukun;SHEN Wei;PENG Hui(Key Laboratory of lntelligent Control and Decision of Complex Systems,School of Automation,Beifing Institute of Technology,Beijing 100081,China;Key Laboratory of Servo Motion System Drive and Control,Ministry of Industry and Information Technology,School of Automation, Beifing Institute of Technology,Beifing 100081,China)

机构地区：[1]北京理工大学自动化学院复杂系统智能控制与决策国家重点实验室,北京100081 [2]北京理工大学自动化学院伺服运动系统驱动与控制工业和信息化部重点实验室,北京100081

出　　处：《机器人》2019年第1期65-74,82,共11页Robot

基　　金：国家自然科学基金(61773060)

摘　　要：针对现有基于串联式机械腿结构的四足机器人无法同时满足承载能力大、环境适应性强、运动速度快等要求的问题,提出了一种基于并联6自由度结构的电动轮足机器人结构原理,集成了轮式运动和足式运动各自的优势.在对机器人并联式轮腿进行运动学和动力学分析基础上,建立了单腿动力学模型和机器人整体运动学模型,提出了机器人机身姿态调整算法,有效提高了机器人运动过程中姿态的平稳性.仿真与实验验证了所提出的轮足复合式机器人的可行性和轮式运动时机器人机身姿态调整策略的有效性.Since the existing quadruped robots based on tandem mechanical leg structure can't meet the requirements of large carrying capacity,strong environmental adaptability and fast moving speed simultaneously,a structural principle of a wheel-foot robot based on parallel 6-DOF (degree of freedom)structure is proposed which integrates the advantages of wheel and foot motion.Based on the kinematics and dynamics ana2ysis of the parallel wheel-leg,a dynamic model of a single leg and a kinematic model of the robot are established.A posture adjustment algorithm of the robot body is proposed,which improves the posture stability of the robot in movement effectively.Simulation and experimental results show the feasibility of the proposed wheel-foot robot and the effectiveness of the robot posture adjustment strategy in wheeled motion.

关 键 词：地面移动机器人 轮足复合运动 并联6自由度结构 四足机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]