可分体轮腿四足机器人的运动模态分析与轨迹切换  

Motion Modal Analysis and Trajectory Switching of

作　　者：窦钰涵 张金柱 王涛 熊晓燕 武兵 DOU Yuhan;ZHANG Jinzhu;WANG Tao;XIONG Xiaoyan;WU Bing(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,太原030024

出　　处：《太原理工大学学报》2023年第4期748-754,共7页Journal of Taiyuan University of Technology

基　　金：国家自然科学基金资助项目(51905367);山西省高等学校科技创新项目资助(2019L0176);山西省应用基础面上青年基金资助项目(201901D211011)。

摘　　要：【目的】煤矿井下地形复杂多变且空气中含有多种易燃易爆气体,具有极高的危险性。为了降低巡检风险,提高巡检效率,提出了一款具有多种运动模态的可分体轮腿四足机器人。【方法】分析了该机器人的腿模态、轮模态、轮腿混合模态、躯体分离组合模态、双臂夹持模态等5种主要运动模态。阐述了单腿结构参数并基于蒙特卡洛法绘制了机器人的腿部工作空间;利用加速度倒推法消除了足端纵向的加速度突变,优化了机器人腿模态下的足端轨迹;基于5次多项式的轨迹特点规划了机器人多个运动模态相互切换的轮腿切换轨迹;基于Webots与MATLAB的联合仿真环境,验证了机器人腿模态下使用Trot步态的稳定性及轮-腿模态切换轨迹的柔顺性。【结论】研究内容可为可分体轮腿四足机器人在矿井环境中进行巡检作业提供理论基础。【Purposes】Coal mine underground terrain is complex and changeable and the air contains a variety of inflammable and explosive gases,which has high risk.In order to reduce the risk and improve the efficiency of inspection,a separable wheelleg quadruped robot with multiple motion modes is proposed in this paper.【Methods】Five main motion modes of the robot,including leg mode,wheel mode,wheel leg mixed mode,body separation combined mode,and arms clamping mode were analyzed.The single leg structure parameters were described and the leg working space of the robot was drawn on the basis of Monte Carlo method.The acceleration reversal method was used to eliminate the abrupt change of foot longitudinal acceleration,and the foot trajectory under the leg mode was optimized.According to the trajectory characteristics of quintic polynomial,the wheel leg switching trajectory of multiple motion modes was planned.On the basis of the joint simulation environment of Webots and MATLAB,the stability of Trot gait and the flexibility of wheel-leg mode switching track under the robot leg mode were verified.【Conclusion】The research content of this paper provides a theoretical basis for the separable wheelleg quadruped robot that can carry out inspection in mine environment.

关 键 词：多模态仿真 轨迹规划 足端轨迹优化 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]