Gait Planning and Analysis for Six-wheel-legged Robot in Typical Unstructured Terrain Environment
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摘要: 针对非结构环境下六轮腿机器人地形通过性及高效行走问题，在已有并联六轮腿机器人模型的基础上，建立六足轮腿机器人运动学模型，分析机器人在凸起、凹坑、斜坡、崎岖等典型非结构地形下的移动能力，获得典型非结构地形机器人移动能力与机器人构型参数的相互影响关系。进而规划了六轮腿机器人典型大尺度非结构地形条件下的运动步态，通过ADAMS软件仿真验证了运动模型的正确性及运动步态的可行性；研究结果可为六轮腿机器人非结构地形条件下实现高效行走的控制策略提供借鉴。Abstract: To improve the terrain trafficability and walking efficiency of a six-wheel-legged robot in unstructured terrain environment, based on the existing parallel six-wheel-legged robot model, the kinematic model of the six-wheel-legged robot was established. The robot′s movement capability in typical unstructured terrain environments such as convexity, pit, slope and ruggedness is analyzed. The relationship between the robot′s movement capability in typical unstructured terrain environments and its configuration parameters was obtained. Furthermore, the gaits of the six-wheel-legged robot under the typical large-scale unstructured terrain environments are planned. The correctness of the motion model and the feasibility of the gait planning were simulated and verified with the ADAMS software. The results provide reference for the control strategies of the six-wheel-legged robot in unstructured terrain environments.
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表 1 六轮腿机器人腿部几何参数
参数 数值 参数 数值 LAB 226 mm LGH 142 mm LAC 170 mm α 1.212 rad LAE 600 mm β 0.255 8 rad LEF 285 mm γ 0.614 7 rad LFG 152 mm Rwheel 142 mm 
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表 2 腿部机构坐标系
坐标系编号 原点位置 Z轴指向 X轴指向 0 B AB方向 水平向左 1 A 垂直向里 水平向左 2 E Z轴指向与1坐标系相同 EF方向 3 F Z轴指向与1坐标系相同 FG方向 4 G GF方向 水平向左 5 H HG方向 垂直向外
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