SCalf液压驱动四足机器人的机构设计与运动分析
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摘要
目前轮式和履带机器人在技术上已经非常成熟并得到广泛应用,但它们只能在相对平坦的地面环境移动,而超过一半的陆地表面为崎岖不平的山地、丛林和冰雪地面。自然界中的很多动物,尤其是四足哺乳动物,不仅可以在这些复杂地形环境下快速行走,而且具有较大的负重能力。因此,人类一直在努力研制各式各样的四足仿生机器人。近年来,具有高动态性、大负载能力的液压驱动四足仿生机器人更是受到越来越多人的重视。
虽然已经出现种类繁多的四足仿生机器人,但在仿生机构设计、动力驱动系统、动力学建模、运动控制方法等各方面还没有形成成熟的理论体系,仍处于探索阶段。本论文在液压驱动四足机器人的仿生机构设计、足端轨迹规划、运动学分析、动力学仿真、机载液压动力系统的设计与实现、实验样机集成与实验验证等几方面做了深入研究,主要内容如下：
(1)通过对典型四足哺乳动物的骨骼结构和运动规律的分析研究,设计了具有前后对称运动和全向运动能力、适于快速步行的12主动自由度的液压驱动四足机器人仿生机构。建立了其ADAMS和MATLAB的联合仿真模型,通过仿真获得了各关节运动范围、运动速度和关节驱动力等重要参数,完成了对机器人仿生机构的优化和完善,并以此为依据设计出了高动态、高度集成的一体化液压伺服驱动单元。
(2)提出了基于躯干固定坐标系的复合足端轨迹规划方法,大大减小了摆动足落地冲击,实现了四足机器人平稳运动。采用基于D-H运动学模型的方法对SCalf四足机器人进行运动学数值分析,给出了单腿两个俯仰关节的关节角度、关节角速度、关节角加速度、油缸位移、油缸速度和油缸加速度变化曲线。采用基于迭代计算的计算机辅助分析方法再次对SCalf四足机器人进行了运动学数值分析,取得的结果与基于模型的结果完全一致,且具有较高的计算实时性。
(3)基于离线规划和样条驱动的方法、在线规划和联合仿真的方法分别对SCalf四足机器人进行了运动学和动力学仿真,获取了机器人足地面碰撞力、各关节液压伺服油缸驱动力、躯干质心的速度和加速度波动等重要参数。
(4)基于正压闭式液压回路设计方法,将变容积微型正压油箱、高转速微型柱塞变量泵和12个非对称液压伺服油缸组成正压闭式回路,设计完成了SCalf四足机器人的高功率密度、抗震的机载液压动力系统,解决了四足机器人野外行走的动力问题。
(5)优化并集成了具有12个主动自由度和4被动自由度的液压驱动四足机器人实验样机,进行了负重、复杂地形、抗侧向冲击、最大速度、上下坡、续航等诸多实验,实验结果证明所设计的液压驱动四足机器人具有很好的动态性和大负载能力,技术指标达到了国际先进水平。
本论文研发的液压驱动四足机器人已于2013年1月16日通过了国家高技术发展管理中心组织的现场测评,验收结论是“出色地完成了研究任务”。
By far wheeled robots and tracked robots are technically mature and extensively adopted, however, they are constrained to move on even terrains. Over half of the land surfaces are rugged mountains, jungles, and lands covered by snow and ice. In nature, many kinds of animals, especially the four-legged mammals, not only can walk on these complex terrains rapidly, but also have large load capacity. As a result, humans have been trying to manufacture a wide variety of quadruped bionic robots. In recent years, hydraulic-driven quadruped bionic robot, possessed of high dynamic ability and large load capacity, is brought to the attention of more and more people.
Although numerous quadruped bionic robots have been produced, bionic structure design, power drive system, dynamic modeling, locomotion control methods and other various aspects, have not formed any mature theory systems, and still remain explored. In this paper, the bionic structure design of the hydraulic driven quadruped bionic robot, the planning of foot trajectory, kinematics analysis, dynamics simulation, the design and realization of onboard hydraulic power system, and the integration and experiment validation of the experimental prototype have been performed. The main content is as follows:
(1) Based on the analysis and research about the bone structure and motion pattern of typical four-legged mammals, a hydraulic driving mechanism with12active DOFs, which equipped with front and rear symmetrical motion and omni-direction motion ability and rapid walking ability has been designed. Based on the simulation results of the co-simulation model established in ADAMS/MATLAB, each joint's moving range, moving velocity and joint driving force and other important parameters were obtained. The optimization and perfection of the bionic structure of the quadruped robot were accomplished, on the basis of which highly dynamic and highly integrated hydraulic power unit whas been designed.
(2) A composite foot trajectory planning method was proposed in this paper, which greatly decreased the impact forces between swing feet and ground at the touchdown moment and enabled the robot move more steadily. A numerical analysis was carried out for SCalf based on D-H kinematics model. The variation curves of joints angles, joints angular velocities, joints angular accelerations, cylinder displacements, cylinder velocities, cylinder accelerations were given from the analysis results. Subsequently, another numerical analysis was carried out for SCalf based on a computer aided kinematics analysis method which has good real-time quality. The results were identical to those of numerical analysis based on D-H kinematics model.
(3) Many important parameters such as impact forces between robot feet and ground, driving forces of each hydraulic servo cylinder, the velocity and acceleration undulations of torso were gained from the kinematics and dynamics simulations under ADAMS by both off-line planning with spline driving and co-simulating with MATLAB.
(4) High power/mass ratio, highly compact and quake-proof onboard hydraulic power system were designed and implemented with a positive pressure closed hydraulic circuit made up of miniature variable oil tank and high speed plunger pump and twelve asymmetric hydraulic servo cylinders, which solved the power problem for SCalf robot to walk on the field.
(5) A hydraulically actuated quadruped robot with twelve active DOFs and four passive DOFs is integrated. The experiments of load capacity, uneven terrains adaptability, resistance to lateral impact, maximum speed, uphill, downhill, endurance were done to test the comprehensive performance of it. The experimental results proved its high dynamic ability, large load capacity and international advanced technical indicators.
The hydraulically actuated quadruped robot developed in the thesis had passed the on-site test and evaluation organized by the National I ligh-Tech Development Management Center on January16,2013. The conclusion is that the research task has been done excellently.
虽然已经出现种类繁多的四足仿生机器人,但在仿生机构设计、动力驱动系统、动力学建模、运动控制方法等各方面还没有形成成熟的理论体系,仍处于探索阶段。本论文在液压驱动四足机器人的仿生机构设计、足端轨迹规划、运动学分析、动力学仿真、机载液压动力系统的设计与实现、实验样机集成与实验验证等几方面做了深入研究,主要内容如下：
(1)通过对典型四足哺乳动物的骨骼结构和运动规律的分析研究,设计了具有前后对称运动和全向运动能力、适于快速步行的12主动自由度的液压驱动四足机器人仿生机构。建立了其ADAMS和MATLAB的联合仿真模型,通过仿真获得了各关节运动范围、运动速度和关节驱动力等重要参数,完成了对机器人仿生机构的优化和完善,并以此为依据设计出了高动态、高度集成的一体化液压伺服驱动单元。
(2)提出了基于躯干固定坐标系的复合足端轨迹规划方法,大大减小了摆动足落地冲击,实现了四足机器人平稳运动。采用基于D-H运动学模型的方法对SCalf四足机器人进行运动学数值分析,给出了单腿两个俯仰关节的关节角度、关节角速度、关节角加速度、油缸位移、油缸速度和油缸加速度变化曲线。采用基于迭代计算的计算机辅助分析方法再次对SCalf四足机器人进行了运动学数值分析,取得的结果与基于模型的结果完全一致,且具有较高的计算实时性。
(3)基于离线规划和样条驱动的方法、在线规划和联合仿真的方法分别对SCalf四足机器人进行了运动学和动力学仿真,获取了机器人足地面碰撞力、各关节液压伺服油缸驱动力、躯干质心的速度和加速度波动等重要参数。
(4)基于正压闭式液压回路设计方法,将变容积微型正压油箱、高转速微型柱塞变量泵和12个非对称液压伺服油缸组成正压闭式回路,设计完成了SCalf四足机器人的高功率密度、抗震的机载液压动力系统,解决了四足机器人野外行走的动力问题。
(5)优化并集成了具有12个主动自由度和4被动自由度的液压驱动四足机器人实验样机,进行了负重、复杂地形、抗侧向冲击、最大速度、上下坡、续航等诸多实验,实验结果证明所设计的液压驱动四足机器人具有很好的动态性和大负载能力,技术指标达到了国际先进水平。
本论文研发的液压驱动四足机器人已于2013年1月16日通过了国家高技术发展管理中心组织的现场测评,验收结论是“出色地完成了研究任务”。
By far wheeled robots and tracked robots are technically mature and extensively adopted, however, they are constrained to move on even terrains. Over half of the land surfaces are rugged mountains, jungles, and lands covered by snow and ice. In nature, many kinds of animals, especially the four-legged mammals, not only can walk on these complex terrains rapidly, but also have large load capacity. As a result, humans have been trying to manufacture a wide variety of quadruped bionic robots. In recent years, hydraulic-driven quadruped bionic robot, possessed of high dynamic ability and large load capacity, is brought to the attention of more and more people.
Although numerous quadruped bionic robots have been produced, bionic structure design, power drive system, dynamic modeling, locomotion control methods and other various aspects, have not formed any mature theory systems, and still remain explored. In this paper, the bionic structure design of the hydraulic driven quadruped bionic robot, the planning of foot trajectory, kinematics analysis, dynamics simulation, the design and realization of onboard hydraulic power system, and the integration and experiment validation of the experimental prototype have been performed. The main content is as follows:
(1) Based on the analysis and research about the bone structure and motion pattern of typical four-legged mammals, a hydraulic driving mechanism with12active DOFs, which equipped with front and rear symmetrical motion and omni-direction motion ability and rapid walking ability has been designed. Based on the simulation results of the co-simulation model established in ADAMS/MATLAB, each joint's moving range, moving velocity and joint driving force and other important parameters were obtained. The optimization and perfection of the bionic structure of the quadruped robot were accomplished, on the basis of which highly dynamic and highly integrated hydraulic power unit whas been designed.
(2) A composite foot trajectory planning method was proposed in this paper, which greatly decreased the impact forces between swing feet and ground at the touchdown moment and enabled the robot move more steadily. A numerical analysis was carried out for SCalf based on D-H kinematics model. The variation curves of joints angles, joints angular velocities, joints angular accelerations, cylinder displacements, cylinder velocities, cylinder accelerations were given from the analysis results. Subsequently, another numerical analysis was carried out for SCalf based on a computer aided kinematics analysis method which has good real-time quality. The results were identical to those of numerical analysis based on D-H kinematics model.
(3) Many important parameters such as impact forces between robot feet and ground, driving forces of each hydraulic servo cylinder, the velocity and acceleration undulations of torso were gained from the kinematics and dynamics simulations under ADAMS by both off-line planning with spline driving and co-simulating with MATLAB.
(4) High power/mass ratio, highly compact and quake-proof onboard hydraulic power system were designed and implemented with a positive pressure closed hydraulic circuit made up of miniature variable oil tank and high speed plunger pump and twelve asymmetric hydraulic servo cylinders, which solved the power problem for SCalf robot to walk on the field.
(5) A hydraulically actuated quadruped robot with twelve active DOFs and four passive DOFs is integrated. The experiments of load capacity, uneven terrains adaptability, resistance to lateral impact, maximum speed, uphill, downhill, endurance were done to test the comprehensive performance of it. The experimental results proved its high dynamic ability, large load capacity and international advanced technical indicators.
The hydraulically actuated quadruped robot developed in the thesis had passed the on-site test and evaluation organized by the National I ligh-Tech Development Management Center on January16,2013. The conclusion is that the research task has been done excellently.
引文
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