新型轮腿复合机器人的运动分析及步态研究

doi:10.3901/JME.2019.15.145

机械工程学报 ›› 2019, Vol. 55 ›› Issue (15): 145-153.doi: 10.3901/JME.2019.15.145

新型轮腿复合机器人的运动分析及步态研究

张程煜, 郭盛, 赵福群

北京交通大学机械与电子控制工程学院北京 100044

收稿日期:2018-10-16 修回日期:2019-03-20 出版日期:2019-08-05 发布日期:2019-08-05
通讯作者: 郭盛(通信作者),男,1972年出生,博士,教授,博士研究生导师。主要研究方向为机器人机构学。E-mail:shguo@bjtu.edu.cn
作者简介:张程煜,男,1994年出生。主要研究方向为机器人机构学。E-mail:16121306@bjtu.edu.cn;赵福群,男,1992年出生,博士研究生。主要研究方向为机器人机构学。E-mail:16116362@bjtu.edu.cn
基金资助:
国家自然科学基金（51875033）和北京市自然科学基金（L172021）资助项目。

Motion Analysis and Gait Research of a New Wheel-legged Compound Robot

ZHANG Chengyu, GUO Sheng, ZHAO Fuqun

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044

Received:2018-10-16 Revised:2019-03-20 Online:2019-08-05 Published:2019-08-05

摘要/Abstract

摘要： 为提高机器人在复杂环境下执行多种任务的能力，提出了一种通过轮式与足式相互切换实现多种操作模式的新型轮腿复合机器人，给出了机器人初始运动模式以及通过支链变换可实现的其他移动和操作模式。求解了机器人六足和四足行走模式下的运动学与步态问题，根据稳定性几何约束条件，给出了机器人支链末端的可达工作空间与移动过程中的运动轨迹。利用机器人轮式行走状态下全向模式和低重心模式的支链几何关系，给出了两种模式相对应的支链位姿与机器人行走参数。最后，考虑机器人所处不同地形和任务环境，对机器人不同模式间的切换过程进行了运动规划与稳定裕度计算，并在V-REP机器人仿真平台进行虚拟样机仿真。结果证明机器人在运动与模式切换过程中具有良好的稳定性，以及实现多种类型任务的移动和操作能力。

关键词: 步态规划, 多操作模式, 轮腿复合机器人, 稳定性, 运动学

Abstract: In order to improve the ability of the robot to perform multiple tasks in the complex environment, a new wheel-legged compound robot which can realize multiple operation modes by switching between wheel and foot is proposed. The initial movement mode of the robot and other movement and operation modes which can be realized by limbs transformation are given. The kinematics and gait of the robot with six and four legged walking modes are solved. According to the geometrical constraints of stability, the accessible workspace of the robot's limb and the motion trajectory in the moving process are given. Based on the geometrical constraints of the omnidirectional mode and the low center of gravity mode, the position and posture of the branched-chain corresponding to the two modes and the walking parameters of the robot are given. Finally, considering the different terrain and task environment, the switching process between different modes of the robot is carried out with motion planning and stability margin calculation, and the virtual prototype simulation is carried out on V-REP. The results show that the robot has good stability in the process of movement and mode switching, as well as the ability to move and operate multiple types of tasks.

Key words: gait research, kinematics, multi-operation mode, stability, wheel-leg compound robot

中图分类号:

TG156

张程煜, 郭盛, 赵福群. 新型轮腿复合机器人的运动分析及步态研究[J]. 机械工程学报, 2019, 55(15): 145-153.

ZHANG Chengyu, GUO Sheng, ZHAO Fuqun. Motion Analysis and Gait Research of a New Wheel-legged Compound Robot[J]. Journal of Mechanical Engineering, 2019, 55(15): 145-153.

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新型轮腿复合机器人的运动分析及步态研究

Motion Analysis and Gait Research of a New Wheel-legged Compound Robot

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