四摆臂-六履带机器人单侧台阶障碍越障仿真与试验  

Simulation and experiment on obstacle-surmounting performance of four swing arms and six tracked robot under unilateral step environment

作　　者：王川伟[1] 马琨[1] 杨林 马宏伟[1] 薛旭升[1] 田海波[1] Wang Chuanwei;Ma Kun;YangLin;Ma Hongwei;Xue Xusheng;Tian Haibo(Xi＇an University of Science and Technology, Xi＇an 710054, China)

机构地区：[1]西安科技大学机械工程学院,西安710054

出　　处：《农业工程学报》2018年第10期46-53,共8页Transactions of the Chinese Society of Agricultural Engineering

基　　金：陕西省教育厅科研计划自然科学专项项目(17JK0506);陕西省科技统筹创新工程计划项目(2013KTCL01-02);陕西省自然科学基础研究计划项目(2015JM5235);同济大学嵌入式系统与服务计算教育部重点实验室开放课题基金(ESSCKF 2015-04)

摘　　要：为了实现机器人代替人类在农业环境下作业,减轻人类的劳作负担,该文设计了一种四摆臂-六履带机器人(4SA-6TR),机器人采用套筒轴传动形式,其摆臂旋转运动与履带轮旋转运动相互独立,可实现多姿态变化,适应野外复杂地形。为掌握机器人的越障稳定性,建立了4SA-6TR机器人运动学关系矩阵方程,并借助重心定理对机器人运动姿态进行分析,得到机器人在全局坐标系下的重心坐标方程,并利用重心投影法判断机器人越障的稳定性。为实现机器人稳定越障,研究SA-6TR机器人单侧障碍地形的越障机理,建立机器人摆臂旋转角度与机器人横滚角度关系的数学模型;对数学模型进行推导,得到机器人在攀越单侧台阶平稳越障时机器人摆臂旋转角度?与台阶高度H的关系式。通过Soliworks三维设计软件及Adams仿真软件建立4SA-6TR机器人虚拟样机模型及仿真环境,完成单侧双重障碍地形越障仿真试验。通过室内测试试验,完成150 mm高的障碍测试,测试发现机器人的俯仰角度偏差较大,最大偏差2.4?,但最终俯仰角度稳定在0.1?左右;横滚角度偏差较小,最终横滚角度稳定在0.3?左右,达到了机器人平稳越障的控制目的,并验证机了器人摆臂角度控制策略的正确性及可行性。本文推导的单侧障碍越障姿态调整控制方案可为4SA-6TR机器人自主越障提供理论依据。In the agricultural environment, in order to realize the replacement of human by robots and reduce the burden of human labor, the 4-swing-arm6-track robot（4SA-6TR）was designed after studying the structure of tracked robot. The maximum size of the robot is 830 mm ×790 mm ×360 mm, its swing arm is 295 mm, and its weight is about 120 kg. The robot adopts the structure of the sleeve shaft, and the rotation motion of swing arm is independent from that of the tracked wheel, so that the robot＇s 4 arms can rotate freely, and robots can achieve multi-posture changes. When the robot faces an obstacle, the robot can adjust its posture through changing the rotation angle of the 4 swing arms, so the robot can maintain the higher stability during the obstacle course.Kinematics matrix equations of 4SA-6TR were established.And the center of gravity（CoG） coordinates of the robot were gotten in the global coordinate system with the help of the CoG theorem after analysis of motion attitude of 4SA-6TR robot.The CoG can be used to study the stability of the robot.Sometimes the 2 tracks of the robot don＇t touch obstacles at the same time. When one side of the robot meets an obstacle, the roll angle, pitch angle and position of the CoG of the robot will change,which will affect the stability of the robot.The obstacle-surmounting mechanism of the robot under the condition of unilateral obstacle was studied. The robot is considered as a connecting rod consisting of a free joint and 4 joints, and the mathematical model was established between the rotation angle of robot＇s swinging arms and the robot＇s roll angle. The equation of the rotation angle of robot＇s swinging arms and the height of the step can be obtained by the derivation of the formula.When robot climbs a unilateral step,its pitch angle and roll angle will change due to its CoG.In the unilateral obstacle environment, when the step height is less than L1＋r-R（L1is the length of the robot＇s swing arm, r is the radius of the arm wheel, and R is the radius

关 键 词：机器人 运动学 试验 越障 单侧台阶障碍 姿态控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]