全地形移动机器人悬架机构设计及特性分析

doi:10.3901/JME.2022.09.071

机械工程学报 ›› 2022, Vol. 58 ›› Issue (9): 71-86.doi: 10.3901/JME.2022.09.071

扫码分享

全地形移动机器人悬架机构设计及特性分析

汪步云^1,2,3, 彭稳¹, 梁艺^1,2,3, 程军^1,2,3, 胡汉春³, 许德章^1,2,3

1. 安徽工程大学机械工程学院芜湖 241000;
2. 安徽工程大学人工智能学院芜湖 241000;
3. 安徽工程大学机器人产业技术研究院芜湖 241007

收稿日期:2021-08-26 修回日期:2021-12-23 出版日期:2022-05-05 发布日期:2022-06-23
作者简介:汪步云，男，1984年出生，博士，副教授，硕士研究生导师。主要研究方向为机器人信息感知。E-mail：ayun@ahpu.edu.cn;彭稳，男，1995年出生，硕士研究生。主要研究方向为智能机器人机构与控制。E-mail：pwwdxf@sina.com
基金资助:
安徽省属公办普通本科高校领军骨干人才、安徽省重点研发计划(202004a05020013)、安徽工程大学-鸠江区协同创新专项基金重点(2021cyxta1)和安徽工程大学创新团队资助项目

Characteristics Analysis and Optimization Design of Suspension Mechanism of All-terrain Mobile Robot

WANG Buyun^1,2,3, PENG Wen¹, LIANG Yi^1,2,3, CHENG Jun^1,2,3, HU Hanchun³, XU Dezhang^1,2,3

1. School of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000;
2. School of Artificial Intelligence, Anhui Polytechnic University, Wuhu 241000;
3. Institute of Technology Robotics Industry, Anhui Polytechnic University, Wuhu 241007

Received:2021-08-26 Revised:2021-12-23 Online:2022-05-05 Published:2022-06-23

摘要/Abstract

摘要： 针对全地形移动机器人多地形行走需要，满足其路面的通过性与减振需求，设计了一种双叉臂悬架减振机构，建立了基于动力学参数分析的数学模型；通过ADMAS-Simulink联合仿真，分析了多路面谱函数激励下移动机器人悬架机构的振动情况，优化了所选取的阻尼器阻尼比、刚度参数和摆臂角等悬架特性参数，确定了悬架特性参数和驱动力矩等主要设计参数范围；进一步地，开展了户外多地形行走试验，包括鹅卵石、青石板、土壤、草地等较为代表性路面，对比了两种阻尼器参数测试，结果表明，所设计的悬架机构及特性参数优化，显著改善了减振效果和越障性能，提升了车轮驱动力矩转化输出为牵引力的效果，验证了悬架减振机构动力学建模描述与仿真分析的正确性，有效改善了全地形移动机器人路面适应性、通过性和行走稳定性。

关键词: 全地形移动机器人, 减振悬架, 动力学特性, 联合仿真

Abstract: Aiming at the passability and vibration reduction requirements when all-terrain mobile robot walking on various roads, a double-fork arm suspension in the vibration reduction mechanism is designed, and a mathematical model is established based on dynamic parameter analysis. The vibration of the suspension mechanism under the excitation with multi-road spectrum function is analyzed and co-simulated in ADMAS-Simulink. Also, the characteristic parameters of suspension, such as damper damping ratio, stiffness parameters and swing rod angle are optimized, in which the range of main design parameters including suspension and joint drive torque were determined. Further, the field walking test is carried out with two kinds of damper, including cobblestone, stone step, soil and grassland pavement, and that two damper parameters are compared. Finally, the experimental results show that the suspension mechanism and its parameters optimization could have a great affection on the vibration damping, which increase the effective output of steering moment and traction force. Dynamic modeling description and simulation analysis of suspension damping mechanism are verified. All of that will effectively improve the road adaptability, passability and walking stability of the all-terrain mobile robot.

Key words: all terrain mobile robot, damping suspension, dynamic characteristics, co-simulation

中图分类号:

TP242

汪步云, 彭稳, 梁艺, 程军, 胡汉春, 许德章. 全地形移动机器人悬架机构设计及特性分析[J]. 机械工程学报, 2022, 58(9): 71-86.

WANG Buyun, PENG Wen, LIANG Yi, CHENG Jun, HU Hanchun, XU Dezhang. Characteristics Analysis and Optimization Design of Suspension Mechanism of All-terrain Mobile Robot[J]. Journal of Mechanical Engineering, 2022, 58(9): 71-86.

参考文献

[1] QING Wu, SHANGGUAN Wenbin, LÜ Hui. Research on sliding mode control for nonlinear active suspension system with two degrees of freedom[J]. Journal of Mechanical Engineering, 2020, 56(1): 58-68. 秦武, 上官文斌, 吕辉. 非线性二自由度主动悬架滑模控制方法的研究[J]. 机械工程学报, 2020, 56(1): 58-68.
[2] SHANG W, YANG C, LIU Y, et al. Design on a composite mobile system for exploration robot[J]. Shock and Vibration, 2016, 24(3): 1-14.
[3] ZHU Bolin, QIN Wu, SHANGGUAN Wenbin, et al. Modeling and control of a quarter-car model with double wishbones and its equivalent two degrees of freedom model[J]. Journal of Vibration and Shock, 2019, 38(10): 6-14. 朱柏霖, 秦武, 上官文斌, 等. 基于双横臂的1/4汽车模型及其等效模型的建模控制研究[J]. 振动与冲击, 2019, 38(10): 6-14.
[4] MAO Zhiwei, WU Xun, ZHOU Shaoling, et al. Kinematics analysis and simulation for four wheel drive all wheel differential steering mobile welding robots[J]. China Mechanical Engineering, 2016, 27(13): 1731-1734. 毛志伟, 吴训, 周少玲, 等. 四轮驱动全轮差速转向移动焊接机器人运动学分析与仿真[J]. 中国机械工程, 2016, 27(13): 1731-1734.
[5] LIU Ming, RONG Xuewen, LI Yibin, et al. Speed adaptive control of mobile robot based on terrain clustering analysis[J]. Journal of Jilin University, 2021, 51(4): 1496-1505. 刘明, 荣学文, 李贻斌, 等. 基于地形聚类分析的移动机器人速度自适应控制[J]. 吉林大学学报, 2021, 51(4): 1496-1505.
[6] LI Zhijun, DENG Jun, LU Renquan, et al. Trajectory-tracking control of mobile robot systems incorporating neural-dynamic optimized model predictive approach[J]. IEEE Transactions on Systems Man & Cybernetics Systems, 2017, 46(6): 740-749.
[7] PRADO A J, TORRES-TORRITI M, CHEEIN F A. Distributed tube-based nonlinear MPC for motion control of skid-steer robots with terra-mechanical constraints[J]. IEEE Robotics and Automation Letters, 2021, 6(4): 8045-8052.
[8] SUN Weichao, ZHANG Yifu, HUANG Yuping, et al. Transient-performance-guaranteed robust adaptive control and its application to precision motion control systems[J]. IEEE Transactions on Industrial Electronics, 2016, 63(10): 6510-6518.
[9] LIAO Jianfeng, CHEN Zheng, YAO Bin. Model-based coordinated control of four-wheel independently driven skid steer mobile robot with wheel-ground interaction and wheel dynamics[J]. IEEE Transactions on Industrial Informatics, 2019, 15(3): 1742-1752.
[10] JIANG Hui, XU Guoyan, ZENG Wen, et al. Design and kinematic modeling of a passively-actively transformable mobile robot[J]. Mechanism and Machine Theory, 2019, 142: 1-23.
[11] GAO Haibo, ZHENG Junqiang, LIU Zhen, et al. Performance analysis on wheels lifting-off-ground for Mars rover with active suspension[J]. Robot, 2017, 39(2): 139-150. 高海波, 郑军强, 刘振, 等. 主动悬架式火星车车轮抬离地面性能分析[J]. 机器人, 2017, 39(2): 139-150.
[12] GB/T 7031-2005, Mechanical vibration road surface spectrum measurement data report[S]. Beijing: China Machinery Industry Federation. GB/T 7031—2005, 机械振动道路路面谱测量数据报告[S]. 北京: 中国机械工业联合会.
[13] ZHANG Kejian. Vehicle ground mechanics[M]. Beijing: National Defence Industry Press, 2002. 张克健. 车辆地面力学[M]. 北京: 国防工业出版社, 2002.
[14] LI Quantong, WANG Xiangyu, ZHANG Bangji, et al. Research on tire longitudinal-vertical coupling state observation and slip ratio control under bumpy road[J]. Journal of Mechanical Engineering, 2021, 57(12): 62-73. 李全通, 王翔宇, 张邦基, 等. 颠簸路面下车轮纵-垂向耦合状态观测及其滑移率控制研究[J]. 机械工程学报, 2021, 57(12): 62-73.
[15] LI Xiaopeng, LI Fanjie, YANG Lingxue, et al. Optimization design and dynamics analysis of vehicle suspension system[J]. Journal of Northeastern University, 2020, 41(8): 1097-1102. 李小彭, 李凡杰, 杨舲雪, 等. 车辆悬架系统的优化设计与动力学特性分析[J]. 东北大学学报, 2020, 41(8): 1097-1102.
[16] WANG Gang, LIU Xiaoping, ZHAO Yunlong, et al. Neural network-based adaptive motion control for a mobile robot with unknown longitudinal slipping [J]. Chinese Journal of Mechanical Engineering, 2019, 32: 61.
[17] LIU Yanhua, GUAN Xin, HU Pingping, et al. Research on key issues of consistency analysis of vehicle steering characteristics[J]. Chinese Journal of Mechanical Engineering, 2021, 34: 11.

全地形移动机器人悬架机构设计及特性分析

Characteristics Analysis and Optimization Design of Suspension Mechanism of All-terrain Mobile Robot

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	柴依扬, 张乐乐, 窦伟元, 张海峰. 基于并行NSGA-III算法的高速列车车体侧墙结构高维多目标优化[J]. 机械工程学报, 2024, 60(6): 321-333.
[2]	潘鑫, 张馨, 卢加乔, 吴海琦. 基于超声电机精稳调控的转子不平衡自愈执行装置设计与试验研究[J]. 机械工程学报, 2024, 60(4): 449-457.
[3]	孔令兴, 魏巍, 闫清东, 陈雪梅, 黄琰. 液力缓速器及其液压控制系统耦合流动特性的联合仿真研究[J]. 机械工程学报, 2024, 60(12): 355-364.
[4]	郭建英, 梁晋, 刘建泽, 滕光蓉, 石炜, 刘良宝. 航空发动机机匣多边并联加载装置设计及精度分析[J]. 机械工程学报, 2023, 59(23): 23-32.
[5]	度红望, 许晓亚, 邵仁波, 熊伟, 王海涛. 气动弯曲型人工肌肉瞬态动力学建模、分析与验证[J]. 机械工程学报, 2023, 59(21): 199-208.
[6]	霍家骥, 于洪杰, 潘鑫, 江志农, 宾光富. 大型旋转设备压液式自动平衡系统[J]. 机械工程学报, 2023, 59(18): 121-129.
[7]	于曰伟, 赵雷雷, 谭迪, 周长城. 考虑牵引电机振动的列车-轨道系统垂向耦合动力学分析[J]. 机械工程学报, 2023, 59(16): 379-389.
[8]	马光同, 曾靖淞, 冯丕极, 闫兆盈, 张伟海. 超导电动磁悬浮列车次级悬挂混合阻尼半主动减振控制研究[J]. 机械工程学报, 2023, 59(10): 236-249.
[9]	潘公宇, 丁聪, 李韵. 基于零力矩点的车辆侧倾评价指标及侧倾控制研究[J]. 机械工程学报, 2023, 59(1): 175-187.
[10]	王瑞锋, 王亮, 贾博韬, 金家楣, 张泉, 吴大伟. 单相驻波驱动的旋转型超声电机结构设计与试验研究[J]. 机械工程学报, 2022, 58(7): 227-236.
[11]	辛欣, 任尊松, 魏雪. CRTSⅡ型轨道砂浆脱空对车辆-轨道系统动力性能的影响[J]. 机械工程学报, 2022, 58(6): 177-183,193.
[12]	张旭飞, 邵焱, 付玉琴, 权龙. 起重机变幅系统Simcenter 3D机液联合仿真分析[J]. 机械工程学报, 2022, 58(24): 334-341.
[13]	邬奇睿, 祁孟盂, 周信, 王安斌. 弹性车轮对地铁直线段轨道减振特性研究[J]. 机械工程学报, 2022, 58(22): 395-405.
[14]	葛曜文, 朱威霖, 刘家辉, 邓文翔, 姚建勇. 电静液作动器精细化建模和特性分析[J]. 机械工程学报, 2021, 57(24): 66-73.
[15]	金淼, 王艾伦, 王青山, 王龙凯, 马伍. 考虑端齿预紧的新型中心拉杆-转子-叶片耦合系统动力学特性分析[J]. 机械工程学报, 2021, 57(23): 124-136.