仿蟹机器人横行步态运动稳定性及能耗分析  

Stability and energy consumption of laterally walking gait in crablike robots

作　　者：韩金华 王海龙[2] 王刚[3] 叶秀芬[1] 王立权[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学机电工程学院,黑龙江省哈尔滨150001 [3]哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2017年第6期898-906,共9页Journal of Harbin Engineering University

基　　金：国家自然科学基金青年基金项目(51409058);黑龙江省博士后基金项目(LBH-Z15035);黑龙江省自然科学基金项目(F201005)

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%。To enhance the motion stability of laterally walking gaits and reduce systematic energy consumption in a crablike robot,the normalized energy stability margin and energy consumption ratio were set as indicators to evaluate gait and pace and gait parameters. Based on dynamic analyses,multi-constrained equations of the tip-point force distribution were derived and a pseudoinverse method was used to optimize torque distribution in all robot joints. Considering the mechanical energy cost and energy loss due to heat emission in a DC motor,a mathematical model for obtaining energy consumption ratio of a crablike robot was formulated. Based on the commonly used constant-phase increment gait approach for a multi-legged robot,the influence on systematic energy consumption and the motion stability,duty factors,stroke,and relative phase of ipsilateral adjacent legs were analyzed in detail. Results show that while the motion efficiency of a crablike robot decreases with increasing relative phase of the ipsilateral adjacent legs,its motion stability improves. Thus,using specific walking speed and duty factors and by rational selection of the relative phase,systematic energy consumption in crablike robots can be reduced by 20% - 30%.

关 键 词：仿蟹机器人 能耗比 规范化能量稳定裕量(NESM) 步态规划 稳定性 步态运动 横行步态 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]