基于异形Stewart平台的电动并联式六轮足机器人

doi:10.3901/JME.2020.13.084

机械工程学报 ›› 2020, Vol. 56 ›› Issue (13): 84-92.doi: 10.3901/JME.2020.13.084

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基于异形Stewart平台的电动并联式六轮足机器人

王修文^1,2, 汪首坤^1,2, 王军政^1,2, 陈志华^1,2, 徐康^1,2, 刘道和^1,2

1. 北京理工大学复杂系统智能控制与决策国家重点实验室北京 100081;
2. 北京理工大学伺服运动系统驱动与控制工信部重点实验室北京 100081

收稿日期:2019-10-10 修回日期:2020-03-05 出版日期:2020-07-05 发布日期:2020-08-01
通讯作者: 汪首坤(通信作者),男,1977年出生,博士,副研究员,博士研究生导师。主要研究方向为运动驱动与伺服控制、控制系统静动态性能仿真与试验、基于图像的动态目标检测与跟踪技术和机器人控制。E-mail:bitwsk@163.com
作者简介:王修文,男,1997年出生。主要研究方向为机器人控制、运动驱动与伺服控制。E-mail:1002652741@qq.com
基金资助:
国家自然科学基金资助项目（61773060）。

Parallel Electric Six-wheeled-foot Robot Based on Special-shaped Stewart Platform

WANG Xiuwen^1,2, WANG Shoukun^1,2, WANG Junzheng^1,2, CHEN Zhihua^1,2, XU Kang^1,2, LIU Daohe^1,2

1. Key Laboratory of Complex Systems Intelligent Control and Decision, Beijing Institute of Technology, Beijing 100081;
2. Key Laboratory of Servo Motion System Drive and Control, Beijing Institute of Technology, Beijing 100081

Received:2019-10-10 Revised:2020-03-05 Online:2020-07-05 Published:2020-08-01

摘要/Abstract

摘要： 针对现有的机器人承载能力不足、复杂环境下适应能力弱以及运行速度慢等特点，创新性地提出了一种基于异形Stewart平台的电动并联式六轮足机器人，该机器人集成了轮式运动与足式运动的优点，可实现轮式、足式以及轮足复合式运动。首先，对机器人的机械结构与控制系统进行设计，然后，为了实现在复杂环境下稳定的行走，足式上设计三足"对角步态"、"两足步态"和"单足步态"的稳定行走算法，实现了机器人稳定且匀速行走；设计了一种在足式步态中调整"支撑项"与"腾空项"占空比的控制算法，克服了足端与地面接触瞬间对机身整体速度带来的影响。轮式运动设计了6轮协同控制，具备6轮独立驱动、独立转向等功能。轮足复合式运动模式下具有变高度、变支撑面、变轮距等功能。通过对电动并联式六轮足机器人多种运动模式进行试验，结果验证了电动并联式六轮足机器人性能的优越性以及控制算法的有效性。

关键词: 六轮足机器人, 足式运动, 轮式运动, 轮足复合式运动

Abstract: Aiming at the weak bearing capacity, the weak adaptability to complex environments and the slow running speed of the foot-type robots, a parallel-structured electric six-wheeled robot based on special-shaped Stewart platform is proposed. It integrates the advantages of wheeled motion and foot motion, and it can realize foot, wheel and wheel-foot composite motion. First, Mechanical structure and control system are designed. Then, in order to achieve stable walking in complex environment, the foot-algorithm using a stable walking algorithm named three-legged "diagonal gait", "bipedal gait" and "single-foot gait" is approved, which achieves stable and uniform walking of the robot. The algorithm which can adjust the duty cycle of the "vacuum term" and the "support term" is designed and it can overcome the obstacle to the robot's overall speed when the foots contact to the ground. Wheeled motion designed 6 rounds of coordinated control, which has 6-wheel independent drive, independent steering and other functions. The control principle of variable height, variable support surface, variable wheel-distance, foot-force distribution is realized in the wheel-foot compound motion mode. Throughout the experiment of the electric parallel six-wheeled robot with multiple motion modes, the results verify the superiority of the performance of the electric parallel six-wheeled robot and the effectiveness of the control algorithm.

Key words: six wheel-foot robot, foot movement, wheel movement, wheel-foot compound movement

中图分类号:

TP242

王修文, 汪首坤, 王军政, 陈志华, 徐康, 刘道和. 基于异形Stewart平台的电动并联式六轮足机器人[J]. 机械工程学报, 2020, 56(13): 84-92.

WANG Xiuwen, WANG Shoukun, WANG Junzheng, CHEN Zhihua, XU Kang, LIU Daohe. Parallel Electric Six-wheeled-foot Robot Based on Special-shaped Stewart Platform[J]. Journal of Mechanical Engineering, 2020, 56(13): 84-92.

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基于异形Stewart平台的电动并联式六轮足机器人

Parallel Electric Six-wheeled-foot Robot Based on Special-shaped Stewart Platform

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