轮腿式机器人轮-腿高效移动策略优化

黄范; 杜雪松; 宋海蓝; 韩亮亮; 张元勋

doi:10.13433/j.cnki.1003-8728.20200589

轮腿式机器人轮-腿高效移动策略优化

doi: 10.13433/j.cnki.1003-8728.20200589

黄范^1,,
杜雪松^1, ,,
宋海蓝¹,
韩亮亮²,
张元勋^{3, 4}

1.
重庆大学机械传动国家重点实验室，重庆　400044
2.
上海宇航系统工程研究所，上海　201109
3.
重庆大学航空航天学院，重庆　400044
4.
重庆大学教育部深空探测联合研究中心，重庆　400044

基金项目: 国家自然科学基金青年基金项目(51705045)与民用航天技术预先研究项目(D030103)

详细信息

作者简介:
黄范（1996−），硕士研究生，研究方向为空间机构学，2061087413@qq.com

通讯作者:
杜雪松，副教授，博士，948203652@qq.com

中图分类号: TG156
计量
- 文章访问数: 325
- HTML全文浏览量: 117
- PDF下载量: 75
- 被引次数: 0
出版历程
- 收稿日期: 2021-03-17
- 网络出版日期: 2023-04-21
- 刊出日期: 2023-03-25

Optimizing Efficient Wheel-legged Mobile Strategy for Wheel-legged Robot

1.
State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, China
2.
Institute of Aerospace System Engineering Shanghai, Shanghai 201109, China
3.
College of Aerospace Engineering, Chongqing University, Chongqing 400044, China
4.
Center of Space Exploration of Ministry of Education, Chongqing University, Chongqing 400044, China

摘要

摘要: 复杂地形下的高效移动策略是轮腿式机器人研制过程中的技术难点。本文在常规移动策略的基础上，通过引入关节空间状态量描述支腿相对于机身的位姿，引入位姿转换量描述相邻时序的位姿状态量间的运动过程，进而建立起移动策略与时间和能耗的数学模型，并以移动时间最短和能耗最低为目标，建立了移动策略的优化模型，通过优化迭代形成轮-腿高效移动策略。复杂地形下的越障仿真表明，机器人采用轮-腿高效移动策略可实现越障功能，与常规移动策略相比，移动时间及能耗均明显降低，验证了轮-腿高效移动策略的有效性。
- 轮腿式机器人 /
- 高效移动策略 /
- 移动时间 /
- 能耗
Abstract: It is technically difficult to develop a wheel-legged robot in complex terrains with the efficient mobile strategy. Based on the conventional mobile strategy, this paper introduces the number of states of joint space to describe the position and posture of the wheel-legs of the robot relative to its body, and the position and posture conversion amount is introduced to describe the motion process between the numbers of adjacent temporal states. Then, the model of the mobile strategy with time consumption and energy consumption considered is established. Taking the shortest mobile time and the lowest energy consumption as goals, the optimization model of the mobile strategy is established, and the efficient mobile strategy for the wheel-legged robot is developed through optimization iteration. The simulation results on the wheel-legged robot crossing obstacles in complex terrains show that the efficient mobile strategy for the wheel-legged robot can successfully complete its obstacle crossing. Compared with the conventional mobile strategy, the mobile time and energy consumption are significantly reduced, verifying that the efficient mobile strategy is effective.
- wheel-legged robot /
- efficient mobile strategy /
- moblie time /
- energy consumption

HTML全文

图 1 轮腿式机器人运动规划流程

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图 2 轮腿式机器人坐标系

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图 3 轮腿式机器人时序状态量变化

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图 4 轮-腿高效移动策略优化流程

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图 5 六轮腿式机器人模型

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图 6 六轮腿式机器人坐标系布局

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图 7 六轮腿式机器人仿真地形

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图 8 台阶地形下高效移动策略仿真

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图 9 台阶地形下机身运动变化曲线

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图 10 台阶地形下优化前后移动策略支腿位移

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图 11 沟壑地形下高效移动策略仿真

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图 12 沟壑地形下机身运动变化曲线

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图 13 沟壑地形下优化前后移动策略对比

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图 14 斜坡地形下高效移动策略仿真

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图 15 斜坡地形下机身运动变化曲线

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图 16 斜坡地形下优化前后移动策略对比

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表 1 机器人主要结构参数

参数	数值	参数	数值
L_AB	226 mm	L_GH	142 mm
L_AC	170 mm	$ \alpha $	1.21 rad
L_AE	600 mm	$ \beta $	0.256 rad
L_EF	285 mm	R_wheel	140 mm
L_FG	152 mm	R_body	380 mm

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参考文献(16)

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