基于阻抗特性的六足机器人动态稳定性

中国机械工程

基于阻抗特性的六足机器人动态稳定性

艾青林;徐冬;张立彬

浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室，杭州，310014

出版日期:2017-12-25 发布日期:2017-12-21
基金资助:
NSFC-浙江两化融合联合基金资助项目(U1509212)；
国家自然科学基金资助项目(51275470)；
浙江省高等学校中青年学科带头人学术攀登项目(pd2013019)
National Natural Science Foundation of China （No. U1509212，51275470）

Hexapod Robot Dynamic Stability Based on Impedance Characteristics

AI Qinglin;XU Dong;ZHANG Libin

Key Laboratory of E&M,Ministry of Education & Zhejiang Province,Zhejiang University of Technology,Hangzhou,310014

Online:2017-12-25 Published:2017-12-21
Supported by:
National Natural Science Foundation of China （No. U1509212，51275470）

摘要/Abstract

摘要： 针对六足机器人在崎岖路面行走时，易受到外力干挠发生倾覆失稳的问题，提出一种考虑外力、重心位置、支撑面倾角、运动特性以及机器人阻抗特性的动态稳定性分析方法。建立机器人正运动学和重心求解理论模型，对机器人的实时重心与足端位置进行求解，将机器人绕足端支撑边界的倾翻动作等效为机械旋转系统，在规范化能量稳定裕度判定方法的基础上，建立基于阻抗特性的机器人动态稳定性数学模型，分析不同因素对机器人动态稳定性的影响规律。研究结果表明，机器人阻抗特性极大地提高了机器人的动态稳定性。

关键词: 六足机器人, 动态稳定性, 阻抗特性, 能量稳定裕度

Abstract: The hexapod robot might be instability when acted by an external force walking on the rough roads. To overcome this problem, a dynamic stability analysis method considering the external forces, the positions of the center of gravity, the dip angles of the bearing surfaces and the impedance characteristics of the robot were introduced. The theoretical model of the forward kinematics and the gravity of the robot were made to calculate the timely gravity centers of the robot and the positions of the footend. In order to simplify the calculation processes, the tip-over motion around the supported line was equivalent to mechanical rotation system. On the basis of the normalized energy stability margin, based on the impedance characteristics the dynamic stability model of the robots was presented to analyze the effect law of the different elements on the dynamic stability of the robots. The results show that the impedance characteristics of the robots improve the dynamic stability of the robots tremendously.

Key words: hexapod robot, dynamic stability, impedance characteristic, energy stability margin

中图分类号:

TP242

艾青林;徐冬;张立彬. 基于阻抗特性的六足机器人动态稳定性[J]. 中国机械工程.

AI Qinglin;XU Dong;ZHANG Libin. Hexapod Robot Dynamic Stability Based on Impedance Characteristics[J]. China Mechanical Engineering.

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