6-URU支链四面体移动机构的越障步态规划

针对多面体机器人的高地面适应性需求，提出一种适用于四面体移动机构的高质心攀爬越障方法，能够通过三自由度同步变形提升质心高度有效提升攀爬能力。首先，基于四面体移动机构的支撑区域对其移动轨迹进行三角形网格划分，在台阶障碍进行投影畸变，由此规划出该机构针对台阶障碍的分步越障阶段，通过构造凹多面体包附障碍提升攀爬高度。针对高质心攀爬步态的各个阶段分别建立临界状态运动学模型，通过齐次变换矩阵得到机构质心坐标关于障碍高度和障碍距离的表达式，根据数值算法得到最大越障高度随驱动角和障碍距离的变化曲线，执行至不同障碍阶段以实现不同高度障碍的越障攀爬。建立仿真模型，验证越障分析过程合理性。制作一台样机，对高质心攀爬越障步态进行可行性验证。

Obstacle-crossing Gait Planning of a Tetrahedron Mobile Mechanism with 6-URU Branch

Based on high terrain adaptability of polyhedron robot, a kind of climbing method with high center of mass position (CMP) for obstacle-crossing is proposed. The locomotion is able to improve the CMP of mechanism with three degrees of freedom synchronous to cross obstacle. Firstly, based on the triangular supporting area of tetrahedron mobile mechanism, a kind of triangular grid with projection distortion nearby the obstacle is divided. From this, three phases of obstacle-crossing are proposed. Especially, the height of obstacle that can be passed is improved by constructing the external shape of a concave polyhedron to cover obstacle. The kinematics calculations of critical state for each phase are constructed. The mass center expression of obstacle height and distance is deduced by homogeneous transformation matrix. The maximum height along with motion angle and distance is figured out using numerical algorithm. Obstacle with different heights can be passed by executing to different phases of the obstacle-crossing gait. The simulation model is established and the correctness of theoretical analysis is proved. A prototype is manufactured to verify the climbing locomotion with high CMP for obstacle-crossing.