• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2022, Vol. 58 ›› Issue (5): 8-17.doi: 10.3901/JME.2022.05.008

• 机器人及机构学 • 上一篇    下一篇

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松软地质上机器人足-地动力学建模与试验

刘逸群1,2, 陆培栋1, 张志鹏3, 王剑锋1, 张京明1, 丁亮2, 高海波2   

  1. 1. 哈尔滨工业大学汽车工程学院 威海 264209;
    2. 哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150080;
    3. 中国电子科技集团第二十一研究所 上海 200240
  • 收稿日期:2021-03-18 修回日期:2021-11-06 出版日期:2022-03-05 发布日期:2022-04-28
  • 通讯作者: 丁亮(通信作者),男,1980年出生,博士,教授,博士研究生导师。主要研究方向为足式机器人、星球探测车、地面力学与仿真。E-mail:liangding@hit.edu.cn E-mail:liangding@hit.edu.cn
  • 作者简介:刘逸群,男,1988年出生,博士,讲师,硕士研究生导师。主要研究方向为足式机器人、智能与特种车辆。E-mail:lyq.new@163.com
  • 基金资助:
    国家自然科学基金(51705097);中国博士后基金(2017M621258)资助项目。

Modeling and Verification of Robot Foot-terrain Dynamics in Soft Geology

LIU Yi-qun1,2, LU Pei-dong1, ZHANG Zhi-peng3, WANG Jian-feng1, ZHANG Jing-ming1, DING Liang2, GAO Hai-bo2   

  1. 1. School of Automotive Engineering, Harbin Institute of Technology, Weihai 264209;
    2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080;
    3. Institute twenty-one, China Electronics Technology Group, Shanghai 200240
  • Received:2021-03-18 Revised:2021-11-06 Online:2022-03-05 Published:2022-04-28

摘要: 足-地动力学是多足机器人在松软地质上移动机理的核心,在其设计、运动控制和仿真等方面具有重要作用。考虑到切向运动压缩足端周面土壤的情况,结合地面力学理论和Rankine被动土压力理论建立了机器人平底足-地动力学模型。进一步推导建立了一定倾角下矩形足-地动力学模型。开发了多工况足-地作用测试系统,将压盘实验测得的参数代入到矩形足-地动力学模型,通过理论值和实验值的对比,验证了预测误差在合理范围内。对不同足端姿态角的实验数据使用非线性拟合辨识,得到了推进力和承载力的应力-应变系数,最小误差为9.89%,对比本领域经典文献,验证了不同足端姿态角下平底足足端应力分布函数的有效性。

关键词: 足-地动力学, 足式机器人, 松软地质, 足-地作用测试, 参数辨识

Abstract: Foot-terrain dynamics is the core of the movement mechanism of multi-legged robot in soft geology and it also plays an important role in its design, simulation and motion control. Considering that the tangential motion compresses the soil around the foot end, the dynamic model of flat foot-terrain is established by combining the theory of terramechanics and Rankine passive earth pressure theory. Furthermore, a rectangular foot ground dynamic model with a certain inclination angle is established. A special foot-terrain interaction test system is built and the parameters measured by the pressure plate experiment are substituted into the rectangular foot-terrain dynamic model. Compared the theoretical value with the experimental value and the prediction error is within a reasonable range. The experimental data of different foot pose angles are identified by nonlinear fitting and we can obtain the stress-strain coefficients of thrust and bearing capacity. The minimum error is 9.89%, which verifies the validity of the establishment of the stress distribution function of the flat foot.

Key words: foot-terrain dynamics, legged robot, soft geology, foot-terrain interaction test, parameter identification

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