Rolling-Wolf轮腿式机器人动力学模型及步态仿真

A Thesis Submitted to Chongqing University in Partial Fulfillment of the Requirement for the Professional Degree
By Duan Ganlai Supervised by LI Qi-min Specialty: Mechanical Engineering
College of Mechanical Engineering of Chongqing University, Chongqing, China May, 2015
重庆大学硕士学位论文
中文摘要

摘
要
高性能移动机器人一直是国内外仿生机器人的研究热点，本文首先分别从结 构设计方面、运动规划方面和反馈控制方面分析了目前智能机器人的研究情况， 主要包括四足机器人及轮腿式机器人的发展现状。目前主流的几类机器人的特点 如下：足式机器人地形适应能力较好，但是其机构复杂，运行速度比较低；轮式 机器人运行平稳、控制比较简单，但是轮式机器人地形适应能力较差，越障能力 很受限制；而轮腿式机器人则综合了两者的优点，既有轮式机器人的高速高效运 行的特点，也有腿式机器人的越障能力，因此，轮腿式机器人已经逐渐成为国内 外学者的研究对象。 主体部分针对一种新型仿生轮腿式机器人——Rolling-Wolf 进行研究，该机器 人腿部机构由车身、大腿、小腿、电机、滑块及驱动轮组成。基于该样机，主要 进行了如下的研究工作： ①采用欧拉角和空间坐标系的齐次变换，建立了机器人的包含俯仰角和翻滚 角在内的正、逆运动学模型；然后，基于机器人微分运动变换求出了机器人的速 度雅克比矩阵，用于表示机器人关节运动和足端运动的关系。 ②基于运动学理论对 Rolling-Wolf 进行了基于抛物线过渡的线性插值方法的 步态规划，该步态不仅满足静稳定原理，而且对机构不会产生刚性冲击。然后根 据设定的初始步态参数，通过 Matlab 语言实现了足端轨迹曲线和样点的采集。 ③采用拉氏方程和虚功原理建立了 Rolling-Wolf 机器人的动力学模型， 选取了 大腿和车身夹角以及大小腿夹角作为该模型的广义坐标，同时考虑了轮子和地面 之间的接触力，该动力学模型具有良好的通用性。 ④在 ADAMS 中进行了平地慢爬步态的仿真，重点介绍了 ADAMS 仿真参数 的设置，以及通过逆运动学计算得到的滑块的驱动设置方法。仿真完毕后，对车 身质心和同侧大腿滑块的运动进行了观测和分析，并验证了理论运动学模型的正 确性。 关键词：轮腿式机器人、Rolling-Wolf、运动学、步态规划、动力学、ADAMS
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重庆大学硕士学位论文
目
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目
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中文摘要..........................................................................................................................................I 英文摘要........................................................................................................................................ II 1 绪 论......................................................................................................................................... 1
I
重庆大学硕士学位论文
英文摘要
ABSTRACT
High-performance mobile robot is always a hot spot of the research of biomimetic robots. This paper firstly analyzes the current research status of quadruped robot and wheel-legged robot from these aspects: structure design, motion planning and feedback control. The features of several popular kinds of robots are as follows: legged robot has good terrain adaptability, but complex structure and comparatively low running speed; Wheel robot can run smoothly and can be easily controlled, but poor adaptability limits its working space; while wheel-legged robot combines the advantages of both legged robot and wheel robot, therefore, the research of wheel-legged robot has become the research object of scholars at home and abroad. The main part of this paper conducts research of a new kind of wheel-legged robot——Rolling-Wolf which is composed of structure body, thigh, calf, driving motors, slider and wheels. Based on the prototype, main research work is conducted as follows: ①We build up forward and inverse robot kinematic model including pitch angle and roll angle with Euler angle and homogenous transformation. And then, we calculate the velocity Jacobian matrix which can represent the relation between joint motion and foot motion based on robot’s different motion transformation. ②Referred to computed kinematics, we plan a kind of gait which is based on parabolic transited linear interpolation method for Rolling-Wolf. The gait not only satisfies static stability principle, but also produces no rigid impact on the mechanism. Then according to preset gait parameters, the foot trajectory curve and the sample points collection in realized through Matlab. ③We establish the dynamic model of Rolling-Wolf by using the Lagrange equation with selecting the angle among body, thigh and calf as the generalized coordinates. At the same time, the contact force between wheel and ground is also considered. Therefore, the built dynamic model has very high versatility. ④We conduct crawl gait through flat ground simulation in ADAMS. And in this paper, we mainly introduce the methods of setting simulate parameters and slider driving function which is calculated based on inverse kinematics. After simulation, we detect and analyze the motion of the centroid and the ipsilateral thigh sliders of the body. And finally, we verify the validity of the computed kinematics through simulation. Keywords：Wheel-legged robot, Rolling-Wolf, Kinematics, Gait planning, Dynamics, ADAMS
1.1 课题研究背景及意义 ............................................................................................................. 1 1.2 国内外研究现状 ..................................................................................................................... 1 1.2.1 结构设计方面 ................................................................................................................ 2 1.2.2 运动规划方面 ................................................................................................................ 6 1.2.3 反馈控制方面 ................................................................................................................ 8 1.3 国内研究现状 ....................................................................................................................... 10 1.4 本文主要工作和技术路线 ................................................................................................... 11
Rolling-Wolf 轮腿式机器人动力学模型 及步态仿真
重庆大学硕士学位论文
（专业学位）
学生姓名：端赣来 指导教师：李奇敏 副教授
学位类别：工程硕士（机械工程领域）
重庆大学机械工程学院
二 O 一五年五月
The Dynamic Model and Gait Simulation of A Wheel-legged Robot—Rolling-Wolf