可重构仿生四足机器人倾覆后恢复机理与特性研究
Recovery Mechanism and Characteristics of Reconfigurable Bionic Quadruped Robot after Overturning
张春燕 1刘玉航 1丁兵 2杨杰1
作者信息
- 1. 上海工程技术大学机械与汽车工程学院,上海 201620
- 2. 南京农业大学农学院,南京 210095
- 折叠
摘要
农业环境起伏多变,边界模糊,大多呈非结构化分布.四足机器人在复杂农业环境中作业时,易出现因倾覆失去运动能力的情况,因此机器人需具备倾覆后自我恢复能力.传统四足机器人倾覆后恢复多数依靠腿部运动来实现,而可重构四足机器人,可通过躯干与腿部协调运动来实现倾覆后自我恢复.本文基于可重构躯干构型多变,得到了多种仿生形态的可重构四足机器人,规划了基于可重构理论的倾覆后恢复机理.对比倾覆后可重构机器人利用躯干拱起折叠和单侧翻转折叠两种恢复方式,分析R1型、R2型可重构四足机器人恢复的运动特性.利用软件ADAMS进行仿真,对仿真数据进行分析,证明了可重构躯干比刚性躯干更有效地减少了恢复过程中的冲击.最后设计样机并进行实验,验证机理实施的可行性与稳定性,研究结果表明其可降低实现静态自我恢复的难度.
Abstract
Agricultural environments have many ups and downs,fuzzy boundaries,and mostly unstructured distributions.Quadrupedal robots operating in complex agricultural environments are very susceptible to tipping over and thus losing locomotion,and therefore,quadrupedal robots need to have the ability to recover after tipping over.Traditional quadrupedal robots rely on leg movement to recover from tipping in most cases,while reconfigurable quadrupedal robots can realize self-recovery after tipping through the coordinated movement of the torso and legs.Based on the variable configuration of the reconfigurable torso,bionic forms of reconfigurable quadruped robots were obtained,and the recovery mechanism after tipping based on the reconfigurable theory was planned.Then comparing the two recovery modes of the reconfigurable robots after tipping by using the torso arching and folding and unilateral flipping and folding,the kinematic characteristics of the recovery of the R1-type and R2-type reconfigurable quadrupedal robots were analyzed and got.Then simulation was carried out by using the software ADAMS,and the simulation data were analyzed to prove that the reconfigurable torso was more effective than the rigid torso in reducing the impact during the recovery process.Finally,a prototype was designed and experiments were conducted to verify the feasibility and stability of the mechanism implementation,and the experimental results showed that the post-collapse recovery mechanism can reduce the difficulty of realizing static self-recovery.
关键词
四足机器人/可重构/仿生/倾覆/恢复Key words
quadruped robot/reconfigurable/bionic/overturning/self-recovery引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据