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液压驱动六足机器人一种低冲击运动规划方法 总被引:3,自引:0,他引:3
足地接触冲击对大尺度重载足式机器人的运动性能影响显著。针对液压驱动六足机器人,以低冲击平顺运动为目标,提出一种减小足地接触冲击的足端轨迹规划方法。基于仿生构型和运动学模型推导腿部关节的角度函数,根据液压缸铰点布置和腿部机构几何关系推导出各液压缸活塞杆的位置控制函数,分析表明关节和液压缸运动平稳,速度、加速度无突变。基于Vortex搭建机器人仿真平台,采用该方法实现了步行过程的仿真模拟,机体稳定前移过程中的垂向起伏微小,侧向偏移率约为2.1%。将该方法应用于开发的六足机器人原理样机,进行野外自然环境行走测试,各关节按预定轨迹平稳运动,足端受力合理。仿真结果与试验结果具有较好的一致性,验证了提出的运动规划方法合理可行。 相似文献
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使用Adams对Pro/E造型的四足仿生机器人结构进行了仿真分析,为机器人控制器件,特别是驱动电机的选择以及步态的规划提供了重要的数据,并针对四足仿生机器人结构和控制性能的要求,以实现四足仿生机器人在复杂环境下稳定行走的运动策略为目的,设计了上下层分布控制系统.论述了控制系统方案及其控制机理,并详细介绍了机器人控制系统的硬件构成、软件体系及系统工作原理. 相似文献
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使用Adams对Pro/E造型的四足仿生机器人结构进行了仿真分析,为机器人控制器件,特别是驱动电机的选择以及步态的规划提供了重要的数据,并针对四足仿生机器人结构和控制性能的要求,以实现四足仿生机器人在复杂环境下稳定行走的运动策略为目的,设计了上下层分布控制系统。论述了控制系统方案及其控制机理,并详细介绍了机器人控制系统的硬件构成、软件体系及系统工作原理。 相似文献
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为实现四足机器人稳定行走,分析了重心与稳定域的关系对机器人稳定步行的影响,研制了一种重心调整装置并应用于四足仿生机器人步行中。以静态步行为例,规划了机器人及其重心调整装置的运动方式,运用SolidWorks分别对机器人和重心调整装置进行了建模,并通过ADAMS对建立的模型进行了仿真分析。仿真结果表明该装置的应用能有效调节四足仿生机器人重心位置,实现了机器人的稳定步行。 相似文献
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舵机驱动仿生四足机器人设计 总被引:1,自引:0,他引:1
四足机器人是模仿动物的运动机理,实现不同环境下的适应性行走.电机驱动相比液压或气压驱动,有能量传递方便,信号传递迅速,标准程度高的优点,成为机器人驱动的主流选择.针对四足机器人多自由度运动的特点,提出了一种舵机驱动控制机器人实现所规划的行走步态的有效方法.即采用模块化设计了舵机驱动四足机器人,其中包括控制系统软硬件的设... 相似文献
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Controlling the motions of the front and rear legs and regulating the compliance of the legs are important for stable gallop.
In this paper, a new method called ellipse-based trajectory generation method (ETGM) to generate foot trajectories for galloping
quadrupeds is proposed. Unlike many previous works which attempted controlling foot trajectory, which need a sophisticated
algorithm to avoid forcing the feet out of the workspace and thus making galloping unstable, a new trajectory generation method
is based on an elliptic trajectory with constant radii but with changes in its center position. The rotational speed of the
elliptic trajectory or the orbit trajectory is determined by the desired height of galloping and the running speed. It is
assumed that each leg of a galloping quadruped robot has passive ankle joints with passive springs, thus acting as a spring
loaded inverted pendulum (SLIP). To check the performance and effectiveness of the proposed method, a series of computer simulations
of a 2-D quadruped robot galloping in the sagittal plane were performed. The simulation results show that the proposed method
is simple to implement and very effective in generating stable gallop.
This paper was recommended for publication in revised form by Associate Editor Doo Yong Lee
Jong Hyeon Park received his B.S. degree in mechanical engineering from Seoul National University in 1981 and his M.S. and Ph.D. degrees
from the Massachusetts Institute of Technology in 1983 and 1991, respectively. Since 1992, he has been with the School of
Mechanical Engineering at Hanyang University. He was a KOSEF-JSPS Visiting Researcher with Waseda University, Tokyo, Japan,
in 1999, and a KOSEFCNR Visiting Researcher with Scuola Superiore Sant’Anna, Pisa, Italy in 2000, a Visiting scholar with
MIT, Cambridge, USA, in 2002–2003. He was also associated with Brooks Automation Inc., Chelmsford, MA, in 1991–1992 and 2001–2002. 相似文献
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为了实现液压作动的四足步行机器人的稳定行走,根据运动稳定裕量原则规划四足机器人的直行步态,保证三足支撑机体时稳定裕量为100 mm;针对液压缸运动加速度突变导致机体冲击振动的问题,提出了利用S型曲线作为各自由度的运动位移控制规律的方法。按照JQRI00型四足步行机器人原理样机的结构建立了虚拟样机模型,应用仿真软件对所设计步态进行了仿真,分析了步态的运动学、动力学特征和位移控制方法的运动特征;在四足步行机器人原理样机上进行了试验,并将试验与仿真结果进行了比较。研究结果表明,所设计的机器人步态可行,保证了机器人具有较好的行走稳定性;将S型曲线用于位移控制,消除了液压缸运动加速度的突变,进一步提高了机体运行的平稳性。 相似文献
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为降低四足机器人的工作能耗,提高其在恶劣环境下的有效工作时间,提出了一种小型化四足机器人的设计方案。首先,说明了该四足机器人的运动方式,详细介绍了其控制系统、减速传动机构、分解传动机构、间歇分配机构和腿部机构;然后,针对该小型化四足机器人的简化模型进行了运动学分析,将运用Pro/E软件建立好的小型化四足机器人模型导入ADAMS软件中,再基于ADAMS平台进行了三维四足机器人模型的运动仿真;最后,重点分析了该四足机器人双侧腿部进行步态切换时的行走状态,总结出了其速度曲线突变的原因。研究结果表明,该小型化四足机器人可以实现稳定的运动,进而验证了机器人设计方案的可靠性。 相似文献
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Design and simulation for a hydraulic actuated quadruped robot 总被引:1,自引:0,他引:1
Rong Xuewen Li Yibin Ruan Jiuhong Li Bin 《Journal of Mechanical Science and Technology》2012,26(4):1171-1177
This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary
joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse
kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed
of cubic curve and straight line, which greatly reduces the velocity and acceleration fluctuations of the torso along forward
and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide
important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders. 相似文献
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This paper proposes an optimal galloping trajectory, which costs low energy and guarantees the stability of the quadruped
robot. In the realization of fast galloping, the trajectory design is important. For a galloping trajectory, we propose an
elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic
trajectory, as an imitation of animal galloping motion, does not guarantee stability and minimal energy consumption. We propose
optimization based on energy and stability using a genetic algorithm, which provides a robust and globally optimized solution
to this multi-body, highly nonlinear dynamic system. To evaluate and verify the effectiveness of the proposed trajectory,
a series of computer simulations were carried out.
This paper was recommended for publication in revised form by Associate Editor Doo Yong Lee
Jong Hyeon Park received the B.S. degree in mechanical engineering from Seoul National University, Seoul, Korea, in 1981 and the S.M. and
Ph.D. degrees from the Massachusetts Institute of Technology (MIT), Cambridge, in 1983 and 1991, respectively. Since 1992,
he has been with the School of Mechanical Engineering at Hanyang University, Seoul, Korea, where he is currently a professor.
He was a KOSEF (Korea Science and Engineering Foundation)-JSPS (Japan Society for the Promotion of Science) Visiting Researcher
with Waseda University, Tokyo, Japan, in 1999, and a KOSEF-CNR (Consiglio Nazionale delle Ricerche) Visiting Researcher with
Scuola Superiore Sant’Anna, Pisa, Italy, in 2000, a Visiting Scholar with MIT, Cambridge, USA, in 2002–2003. He was also associated
with Brooks Automation Inc., Chelmsford, MA, in 1991–1992 and 2001–2002. His research interests include biped robots, robot
dynamics and control, haptics, and bio-robots. He is a member of the IEEE (Institute of Electrical and Electronics Engineers),
KSME (Korea Society of Mechanical Engineers), ICROS (Institute of Control, Robotics and Systems), KROS (Korea Robotics Society),
KSAE (Korean Society of Automotive Engineers), KSPE (Korean Society of Precision Engineering) and KSEE (Korean Society for
Engineering Education). 相似文献