Effects of Elastic Joints on Performances of a Close-Chained Rod Rolling Robot  

作　　者：ZHAO Chenliang ZHANG Xiuli HUANG Senwei YAO Yan’an 赵晨亮;张秀丽;黄森威;姚燕安(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing,100044,China)

机构地区：[1]School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing,100044,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2022年第5期621-630,共10页上海交通大学学报（英文版）

基　　金：the Fundamental Research Funds for the Central Universities of China(No.M15JB00250)。

摘　　要：In rolling experiments,the performances of spider-like robot are limited greatly by its motors’driving ability;meanwhile,the ground reaction forces are so great that they damaged the rods.In this paper,we solve above problems both mechanically and by control.Firstly,we design the parameters of the central pattern generator(CPG)network based on the kinematics of the robot to enable a smooth rolling trajectory.And we also analyze the kinematic rolling and dynamic rolling briefly.Secondly,we add torsion springs to the passive joints of the spider-like robot aiming to make use of its energy storage capacity to compensate the insufficient torque.The simulation results show that the optimized CPG control parameters can reduce the fluctuation of the mass center and the ground reaction forces.The torsion spring can reduce the peak torque requirements of the actuated joints by 50%.

关 键 词：spider-like robot rolling locomotion central pattern generators(CPG) elastic joint 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]