Please wait a minute...
浙江大学学报(工学版)
浙江大学学报(工学版)
机械工程     
基于目标工作空间的六足机器人腿部结构优化
朱雅光,金波,李伟,李世通
浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州,310027
Optimal design of a hexapod robot leg structure based on target workspace
ZHU Ya-guang1, JIN Bo1, LI Wei1, LI Shi-tong1
The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027,China
 全文: PDF(1884 KB)   HTML
摘要：

针对六足机器人实际运动空间相对于目标工作空间的冗余性对机器人腿部结构造成多余尺寸和能耗的问题,提出具有仿哺乳动物的三关节腿部结构的优化设计方法.分析讨论目标工作空间和实际运动空间之间的关系.通过对足端空间的运动学分析,提出基于目标工作空间的通用结构优化方法,建立不等式约束下的非线性规划的数学模型,并应用增广拉格朗日遗传算法来寻找全局优化解.通过优化,机器人的结构尺寸和关节转动范围明显减小,运动空间的冗余范围明显优于优化前.结果表明,该方法能够满足实际工作的要求并且具有较好的可操作性.而通过对于关节转矩和系统能耗的分析证明该方法能够在满足转向和越障的要求的前提下,通过减小自身关节尺寸和惯量,达到减小系统能耗的目的.
Abstract:

Considering the unnecessary leg dimension and energy consumption problem caused by the redundancy of the actual motion space of hexapod robot respect to the target workspace, an optimal design of the three joint structured leg with mammalian configuration was raised. The relationship between the target workspace and actual motion space was discussed. Thus, a general optimal mechanism design for the target workspace was proposed through the kinematics analysis of the foot tip. A mathematics model of nonlinear programming with inequality constraints was established, and Augmented Lagrangian Genetic Algorithm was used to find out the globally optimal solution. Through  the optimization, the structure dimension and joint rotation scope is dwindled obviously and the redundancy of the motion space is improved, And the results illustrate that the optimization can satisfy the demanding of the actual tasks and is in good manipulability. At last, the joint torque and system energy consumption is analyzed, which verified that with the requirement of turning and obstacle overcome satisfied, the total energy consumption can be reduced through decreasing the joint dimension and inertia．
出版日期: 2014-11-26
:     
基金资助:

 国家自然科学基金创新研究群体科学基金资助项目(51221004）；浙江省重点科技创新团队计划资助项目（2010R50036）.
通讯作者: 金波, 男, 教授.     E-mail: bjin@zju.edu.cn
作者简介: 朱雅光(1986-), 男, 博士生, 从事电液控制, 机器人控制研究. E-mail: zhuyaguang@zju.edu.cn
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　

引用本文:

朱雅光,金波,李伟,李世通. 基于目标工作空间的六足机器人腿部结构优化[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2014.05.003.

ZHU Ya-guang, JIN Bo, LI Wei, LI Shi-tong. Optimal design of a hexapod robot leg structure based on target workspace. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2014.05.003.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2014.05.003    或    http://www.zjujournals.com/eng/CN/Y2014/V48/I5/770

［1］ BARES J E, WETTERGREEN D S. Dante II: Technical description, results, and lessons learned ［J］. The International Journal of Robotics Research， 1999,18(7): 621-649．
［2］ GONZALEZ De SANTOS P, COBANO J A, et al. A six-legged robot-based system for humanitarian demining missions ［J］. Mechatronics， 2007, 17(8): 417-430．
［3］ NONAMI K, HUANG Q J, KOMIZO D, et al. Humanitarian mine detection six-legged walking robot［C］∥ Proceedings of the third international conference on climbing and walking robots. Madrid, Spain: PEP, 2000,3:861-868.
［4］ HUANG Q J, NONAMI K. Humanitarian mine detecting six-legged walking robot and hybrid neuro walking control with position/force control［J］. Mechatronics, 2003,13(8): 773-790．
［5］ BARTSCH S, BIRNSCHEIN T, CORDES F, et al. Spaceclimber: Development of a six-legged climbing robot for space exploration  ［C］∥ Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK). Munich, Germany: VDE Verlag, 2010:18．
［6］ JIN Bo, ZHAO Li-jun, ZHANG Jia-lin, et al. Design of the control system for a hexapod walking robot［C］∥2011 Second International Conference on Digital Manufacturing and Automation (ICDMA). Zhangjiajie: IEEE, 2011:401-404．
［7］ GOSSELIN C, ANGELES J. A global performance index for the kinematic optimization of robotic manipulators ［J］. Journal of Mechanical Design,1991, 113(3): 220226．
［8］ LAN P, LIU M, LU N, et al. Optimal design of a novel high speed and high precision 3-DOF manipulator ［C］∥ Mechatronics, 2005. ICM'05. IEEE International Conference on. Taibei: IEEE, 2005: 689-694．
［9］ LIU H, HUANG T, MEI J, et al. Kinematic design of a 5-DOF hybrid robot with large workspace/limb-stroke ratio ［J］. Journal of mechanical design, 2007, 129(5): 530537．
［10］ HWANG Y K, YOON J W, RYU J H. The optimum design of a 6-dof parallel manipulator with large orientation workspace ［C］∥Robotics and Automation, 2007 IEEE International Conference on IEEE. Roma: IEEE, 2007: 163-168．
［11］ OETOMO D, DANEY D, MERLET J P. Design strategy of serial manipulators with certified constraint satisfaction［J］. Robotics, IEEE Transactions on, 2009, 25(1): 111．(下转第798页)
［12］ ZIELINSKA T, HENG J. Development of a walking machine: mechanical design and control problems ［J］. Mechatronics, 2002, 12(5): 737-754．
［13］ GONZALEZ De SANTOS P, GARCIA E, ESTREMERA J. Improving walking-robot performances by optimizing leg distribution ［J］. Autonomous Robots, 2007, 23(4): 247258．
［14］ ZIELINSKA T, HENG J. Development of a walking machine: mechanical design and control problems［J］. Mechatronics, 2002, 12(5): 737-754．
［15］ 金波, 陈诚, 李伟. 基于能耗优化的六足步行机器人力矩分配［J］ 浙江大学学报:工学版. 2012，46(7): 1168-1174．
JIN Bo, CHEN Cheng and LI Wei, Optimization of energy-efficient torque distribution for hexapod walking robot ［J］. Journal of Zhejiang University:Engineering Science, 2012，46(7):1168-1174．
［16］ BUCUR D A, DUMITRU S A. Genetic algorithm for walking robots motion optimization［C］∥Proceedings of the 15th WSEAS International Conference on Systems. World Scientific and Engineering Academy and Society (WSEAS). Wisconsin, USA: WSEAS, 2011: 364-369．
［17］ CONN A R, GOULD N I M, TOINT P. A globally convergent augmented Lagrangian algorithm for optimization with general constraints and simple bounds［J］. SIAM Journal on Numerical Analysis, 1991, 28(2): 545572．
［18］ 梁喜凤, 王永维, 苗香雯. 番茄收获机械手工作空间分析与仿真［J］. 浙江大学学报: 农业与生命科学版. 2005, 31(6): 807-811.
LIANG Xi-feng, WANG Yong-wei, MIAO Xiang-wen, et al. Analysis and simulation of the workspace of a tomato harvesting manipulator ［J］. Journal of Zhejiang University Agriculture δL Lefe Sciences, 2005,31(6):807-811．
［19］ YOSHIKAWA T. Manipulability of robotic mechanisms［J］. The International Journal of Robotics Research, 1985, 4(2): 3-9．
[1] 董凯, 赖俊英, 钱晓倩, 詹树林, 阮方. 夏热冬冷地区居住建筑水平式外遮阳节能效果[J]. 浙江大学学报(工学版), 2016, 50(8): 1431-1437.
[2] 李佳琦, 范利武, 俞自涛. 超亲水表面在淬火冷却过程中的沸腾传热特性[J]. 浙江大学学报(工学版), 2016, 50(8): 1493-1498.
[3] 江衍铭, 张建全, 明焱. 集合神经网络的洪水预报[J]. 浙江大学学报(工学版), 2016, 50(8): 1471-1478.
[4] 钟崴, 彭梁, 周永刚, 徐剑, 从飞云. 基于小波包分析和支持向量机的锅炉结渣诊断[J]. 浙江大学学报(工学版), 2016, 50(8): 1499-1506.
[5] 夏玉峰, 任莉, 叶彩红, 王力. 基于RSM的立柱加强板定位布局多目标优化[J]. 浙江大学学报(工学版), 2016, 50(8): 1600-1607.
[6] 李林玉, 吴张华, 余国瑶, 戴巍, 罗二仓. 直线压缩机电声转换特性的实验[J]. 浙江大学学报(工学版), 2016, 50(8): 1529-1536.
[7] 曲巍崴, 唐伟, 毕运波, 李少波, 罗水均. 避免强迫装配和提升效率的预连接工艺规划[J]. 浙江大学学报(工学版), 2016, 50(8): 1561-1569.
[8] 胡小东, 顾临怡, 张范蒙. 应用于数字变量马达的高速开关阀[J]. 浙江大学学报(工学版), 2016, 50(8): 1551-1560.
[9] 杨姝, 刘国平, 亓昌, 王大志. 金属空心球梯度泡沫结构抗冲击特性仿真与优化[J]. 浙江大学学报(工学版), 2016, 50(8): 1593-1599.
[10] 杨章, 童根树, 张磊. 对称布置2根单侧加劲肋的有效刚度[J]. 浙江大学学报(工学版), 2016, 50(8): 1446-1455.
[11] 蒋翔, 童根树, 张磊. 耐火钢-混凝土组合梁抗火性能试验[J]. 浙江大学学报(工学版), 2016, 50(8): 1463-1470.
[12] 单华峰, 夏唐代, 俞峰, 胡军华, 潘金龙. 地下增层开挖托换桩的屈曲稳定临界荷载分析[J]. 浙江大学学报(工学版), 2016, 50(8): 1425-1430.
[13] 辜天来,张帅,郑耀. 咽式进气道/等直隔离段的反压特性[J]. 浙江大学学报(工学版), 2016, 50(7): 1418-1424.
[14] 程时伟, 陆煜华, 蔡红刚. 移动设备眼动跟踪技术[J]. 浙江大学学报(工学版), 2016, 50(6): 1160-1166.
[15] 郑成志, 高金良, 何文杰. 基于FastICA算法的物理漏损流量分析模型[J]. 浙江大学学报(工学版), 2016, 50(6): 1031-1039.