轮足混合式行走机器人运动学建模与仿真  

Kinematics Modeling and Simulation of Wheel-foot Hybrid Walking Robot

作　　者：唐新星[1] 张德勇 王瑞 苏成志 韩方元 Tang Xinxing;Zhang Deyong;Wang Rui;Su Chengzhi;Han Fangyuan(Mechanical and Electrical Engineering Institute,Changchun University of Technology,Changchun 130022,China;School of Artificial Intelligence,Changchun University of Technology and Science,Changchun 130022,China)

机构地区：[1]长春工业大学机电工程学院,吉林长春130022 [2]长春理工大学人工智能学院,吉林长春130022

出　　处：《机械传动》2021年第11期57-64,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51575219)吉林省教育厅“十三五”科学研究规划项目(JJKH20200657KJ)。

摘　　要：结合足式机器人与轮式机器人的优点,提出了一种基于2(6-UPUR+3P)混联腿的轮足混合式行走机器人构型,并对该机器人进行了运动学建模与仿真分析。基于螺旋理论建立机器人并联腿部单支链的六维运动螺旋系,基于此得到1阶影响系数矩阵,进而推导出6-UPUR并联腿部的运动学模型;提出了机器人机身姿态调整算法,改善了机器人在静态步行步态下机身运动的平稳性;用Matlab算例仿真与Adams仿真对比验证得出运动学模型的正确性,用Adams/Simulink联合仿真验证得出机身姿态调整策略的有效性,为进一步进行轮足混合式行走机器人控制系统的设计奠定基础。Combining the advantages of the foot robot and the wheeled robot,a wheel-foot hybrid walk⁃ing robot configuration based on 2(6-UPUR+3P)hybrid legs is proposed,and the kinematics modeling and simulation analysis of the robot are carried out.Based on the spiral theory,a six-dimensional motion spiral sys⁃tem of a single branch of the parallel leg of the robot is established.Based on this,the first-order influence co⁃efficient matrix is obtained,and then the kinematics model of the 6-UPUR parallel leg is derived.A robot body posture adjustment algorithm is proposed to improve the motion stability of the robot body in a static walking gait.The correctness of the kinematics model obtained from the comparison of Matlab and Adams sim⁃ulation is verified respectively,and the effectiveness of the body posture adjustment strategy is verified by the Adams/Simulink cosimulation,which lays the foundation for the further design of the wheel-foot hybrid walk⁃ing robot control system.

关 键 词：轮足混合式行走机器人 运动学 螺旋理论 影响系数法 姿态调整 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]