非结构环境六轮腿机器人典型路况步态规划及分析  

Gait Planning and Analysis for Six-wheel-legged Robot in Typical Unstructured Terrain Environment

作　　者：张元勋[1,2] 刘应波 韩亮亮 谷程鹏 杜雪松 黄范[5] ZHANG Yuanxun;LIU Yingbo;HAN Liangliang;GU Chengpeng;DU Xuesong;HUANG Fan(College of Aerospace Engineering,Chongqing University,Chongqing 400044,China;The Ministry of Education Center of Space Exploration,Chongqing 400044,China;Aerospace System Engineering Shanghai,Shanghai 201109,China;Space Structure and Mechanism Technology Laboratory,China Aerospace Science and Technology Group Co.,Ltd.,Shanghai 201109,China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆大学航空航天学院,重庆400044 [2]教育部深空探测联合研究中心,重庆400044 [3]上海宇航系统工程研究所,上海201109 [4]中国航天科技集团有限公司空间结构与机构技术实验室,上海201109 [5]重庆大学机械工程学院,重庆400044

出　　处：《机械科学与技术》2021年第12期1966-1972,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金青年基金项目(51705045);民用航天技术预先研究项目(D030103);载人航天预先研究项目(030601)。

摘　　要：针对非结构环境下六轮腿机器人地形通过性及高效行走问题,在已有并联六轮腿机器人模型的基础上,建立六足轮腿机器人运动学模型,分析机器人在凸起、凹坑、斜坡、崎岖等典型非结构地形下的移动能力,获得典型非结构地形机器人移动能力与机器人构型参数的相互影响关系。进而规划了六轮腿机器人典型大尺度非结构地形条件下的运动步态,通过ADAMS软件仿真验证了运动模型的正确性及运动步态的可行性;研究结果可为六轮腿机器人非结构地形条件下实现高效行走的控制策略提供借鉴。To improve the terrain trafficability and walking efficiency of a six-wheel-legged robot in unstructured terrain environment,based on the existing parallel six-wheel-legged robot model,the kinematic model of the six-wheel-legged robot was established.The robot's movement capability in typical unstructured terrain environments such as convexity,pit,slope and ruggedness is analyzed.The relationship between the robot's movement capability in typical unstructured terrain environments and its configuration parameters was obtained.Furthermore,the gaits of the six-wheel-legged robot under the typical large-scale unstructured terrain environments are planned.The correctness of the motion model and the feasibility of the gait planning were simulated and verified with the ADAMS software.The results provide reference for the control strategies of the six-wheel-legged robot in unstructured terrain environments.

关 键 词：轮腿机器人 非结构地形 步态规划 移动能力 

分 类 号：V447[航空宇航科学与技术—飞行器设计] TP242.3[自动化与计算机技术—检测技术与自动化装置]