基于倒立摆模型的四足机器人对角步态规划

为提高点着地四足机器人在匀速对角小跑过程中的动态稳定性,将对角小跑过程简化为一个倒立摆模型。;针对四足机器人对角小跑过程中由于重心无法始终处于支撑对角线上所引起的翻转,在此模型中转换为由于重心引起的摆动角误差;采用虚位移原理对机器人摆动角的变化进行分析,确定不同重心运动变化对摆动角误差的影响并找到合适的重心起始位置,理论上能够使摆动角的误差为零;动态仿真实验验证了所提出的对角步态规划能够使四足机器人实现稳定的对角小跑的有效性。     

排爆机器人主从手力觉临场感仿真研究

针对排爆机器人手臂抓取爆炸物无力反馈操作人员临场感差,易发生误操作触发爆炸物等问题,设计一种排爆机器人主从机械手系统。该系统由两组相同结构的机械手臂组成,每个机械手上安装力传感器分别检测人员与爆炸物对主从手产生的作用力。对主从手机构建立动力学模型与控制模型,根据所建立的模型利用二种不同质量的爆炸物进行抓取以验证其机构动态性能。仿真结果表明：机械手抓取小质量爆炸物时主从手之间力跟随与延时特性都有较好映射;在抓取大质量爆炸物时从手力的映射出现振荡并产生延时。     

Modeling and simulation for small-tracked mobile robots

The small-tracked mobile robots (STMRs) are small, portable and concealed, and they are widely used in scouting, investigation, rescue and assistance. In this paper, a mechanical model is established based on the multi-body dynamic software RecurDyn, and a control system is simulated through Simulink, including its kinematics model, speed controller, motors'' model. Associating the mechanical and control model, the co-simulation model is established for STMRs. The co-simulation approach is applied to optimize the motor parameters. A series of experiments are conducted to examine the accuracy of the virtual prototype, and the results demonstrate that the STMR virtual prototype can exactly illustrate the dynamic performance of the physical one. The co-simulation of mechanical model and control model is applied in forecasting and debugging critical parameters, also it provides guidance in defining motor''s peak current.     

Novel method to calibrate kinematic parameters for mobile robots

In order to reduce the system errors of dead reckoning and improve the localization accuracy,a new model for systematic error of mobile robot was defined and a UMBmark-based method for calibrating and compensating systematic error was presented. Three dominant reasons causing systematic errors were considered: imprecise average wheel diameter,uncertainty about the effective wheelbase and unequal wheel’s diameter. The new model for systematic errors is considering the coupling effect of the three factors during the localization of mobile robot. Three coefficients to calibrate average wheel diameter,effective wheelbase,left and right wheels’ diameter were obtained. Then these three coefficients were used to make improvements on robot kinematic equations.The experiments on the dual-wheel drive mobile robot DaNI show that the presented method has achieveda significant improvement in the location accuracy compared with the UMBmark calibration.     

十二自由度四足机器人的腿机构设计与步行实验

针对四足机器人研究中存在电机驱动不强和效率低的问题,采用耦合驱动的腿机构来构建四足机器人。设计了具有复合运动模式的耦合驱动髋关节,通过髋关节两个电机选取不同的旋转方向和速度,产生多角度的复合运动。运用此腿机构研制具有12个主动自由度的原型样机。根据静态稳定裕度,设计了机器人静态行走步态,运用分布式CAN总线搭建机器人的运动控制系统。实验证明:四足机器人运动平稳,一个运动周期移动距离为32 cm,单足抬起高度为4 cm,满足设计的要求。     

基于重心侧向摆动的四足机器人爬行步态优化

针对四足机器人采用爬行步态行进时高稳定裕度和行走速度难以同时获得的问题,借助间歇爬行步态中重心侧向摆动的动作优化了爬行步态。通过侧向调整重心对爬行步态进行优化以达到行进速度和稳定裕度的平衡。定量描绘出重心侧向移动幅度对四足爬行步态稳定裕度的影响。基于Adams虚拟样机,仿真分析了优化后爬行步态在稳定性和速度上的改善。最后通过原理样机试验验证了该优化步态的有效性。     

关节式履带机器人越障性能分析

以关节式履带机器人为研究对象,详细描述了机器人攀爬楼梯的越障动作规划,考虑了摆臂动作对机器人在越障过程中质心变化的影响,同时以摆臂的初始姿态和特殊姿态作为几何约束条件,基于质心运动学方程和最优化方法分析了机器人的结构尺寸与楼梯台阶宽度、高度、夹角之间的关系,得出了机器人越障的最大高度、宽度,并采用Matlab对机器人的越障性能进行模拟仿真,仿真结果表明了理论分析的正确性,为优化关节式履带机器人的越障性能提供理论依据。     

高分子分离膜研究开发的新动向

新型材料是新技术革命的重要领域之一。正在不断发展中的高分子功能膜当中,高分子分离膜就是首先广泛实用化的一类重要新型材料。膜分离技术由于具有高的分离效率,与其它过程相比所需能量较少,因而在海水淡     

Multi-objective optimization design for leg mechanism of hydraulic-actuated quadruped robot

In order to improve the robot’s abilities of bearing heavy burdens and transporting in complex terrains,the multi-objective optimization design for leg mechanism of the quadruped robot with hydraulic actuated is studied in this paper. The kinematics and dynamics of the robot are analyzed and the two-dimensional linear inverted pendulum model is adopted in planning the trajectories of joints. Then the mathematical model of valve-controlled asymmetric cylinder and control model of single leg are proposed respectively. In the end,NSGA-II algorithm is used to achieve the multi-objective optimization design of parameters concerning single leg mechanism and PD torque control. The results prove that the optimized leg mechanism can significantly reduce the required maximum power of hydraulic system,thus decrease its own weight and lead to the obtaining of good dynamic performance.     

小型履带式移动机器人控制系统设计

针对小型履带式移动机器人,设计了遥控与自主返航模式相结合的控制体系结构,并对机器人自主定位及路径跟踪技术进行重点介绍;信号正常的情况下,机器人在遥控模式下工作,信号中断后,启动自主返航模式,机器人根据路径规划的轨迹行驶到目标点;自主返航模式下,采用传感器信息融合技术提高了机器人定位精度,基于已有路径进行点跟踪控制,设计机器人跟踪控制律;基于履带式移动机器人平台及所述控制系统,对任意给定路径进行跟踪实验;结果表明,机器人可沿给定路径到达终点,且行驶轨迹光滑,验证了定位方法的精度以及跟踪控制律的有效性。该控制系统设计简单,可移植性高,可广泛应用于地面移动机器人领域。