Research on dynamic modeling and motion control of amphibious turtle inspired robot

doi:10.3785/j.issn.1006-754X.2023.00.007

Chin J Eng Design

2023, Vol. 30

Issue (1): 73-81 DOI: 10.3785/j.issn.1006-754X.2023.00.007

Modeling, Simulation, Analysis and Decision

Research on dynamic modeling and motion control of amphibious turtle inspired robot

Hong-bin RUI(

),Lu-lu LI,Tian-ci WANG,Kai-wen DUAN

College of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an 710048, China

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Abstract

In order to improve the walking stability of amphibious turtle inspired robot, a dynamics model was established, and a force/position control model was proposed based on the PID (proportional integral derivative) feedback control strategy. Firstly, according to the kinematics model of the robot, the transformation matrix and Jacobian matrix of the outrigger were obtained, and a force transfer model between foot end and hydraulic cylinder was established by the virtual work principle. Then, the Lagrange method was used to model the dynamics of the robot, and the dynamics equation of the outrigger was derived. At the same time, the dynamics simulation was carried out, and the real-time force on the foot end was introduced into the dynamics equation for calculation, which verified the correctness of the dynamics model. Finally, a hydraulic simulation model was built, and the robot motion simulation was carried out in the ADAMS?AMESim?MATLAB co-simulation environment. The simulation results showed that compared with the pure position control mode, the rotation of the robot knee joint under the force/position control mode was more stable, and the power output of the hydraulic cylinder was more stable and the power consumption was less. The research results have reference significance for improving the stability of robot motion, enhancing the robustness of motion control system and improving the overall efficiency of hydraulic system.

Key words： robot dynamics force/position control co-simulation

Received: 17 May 2022 Published: 06 March 2023

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Cite this article:

Hong-bin RUI,Lu-lu LI,Tian-ci WANG,Kai-wen DUAN. Research on dynamic modeling and motion control of amphibious turtle inspired robot. Chin J Eng Design, 2023, 30(1): 73-81.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2023.00.007 OR https://www.zjujournals.com/gcsjxb/Y2023/V30/I1/73

两栖仿海龟机器人动力学建模与运动控制研究

为了提高两栖仿海龟机器人行走的稳定性，对其进行动力学建模，并基于PID（proportional integral derivative，比例积分微分）反馈控制策略提出了一种力/位控制模型。首先，根据机器人的运动学模型，得到了支腿的变换矩阵和雅可比矩阵，并利用虚功原理建立了足端与液压缸之间的力传递模型。然后，利用拉格朗日法对机器人进行动力学建模，推导了支腿的动力学方程，同时进行了动力学仿真，并将实时的足端受力导入动力学方程进行计算，验证了动力学模型的正确性。最后，搭建了液压仿真模型，并在ADAMS?AMESim?MATLAB联合仿真环境中开展了机器人运动仿真。仿真结果显示：与纯位置控制模式相比，力/位控制模式下机器人膝关节的转动更加平稳，液压缸的动力输出更稳定且功耗更小。研究结果对提高机器人运动的稳定性、增强运动控制系统的鲁棒性和提高液压系统的总效率具有借鉴意义。

关键词： 机器人, 动力学, 力/位控制, 联合仿真

Fig.1 Three-dimensional model of amphibious turtle inspired robot

Table 1 Main dimensional parameters of amphibious turtle inspired robot

Table 2 Main technical performance parameters of hydraulic cylinder

Fig.2 Motion coordinate system of outrigger

Fig.3 Diagram of outrigger movement

Fig.4 Schematic diagram of centroid position of each component of outrigger

Table 3 Mass and centroid position of each component of outrigger

Fig.5 Schematic diagram of imitation turtle crawling gait

Fig.6 Simulation results of imitation turtle crawling gait

Fig.7 Technical route of robot dynamics model simulation verification

Fig.8 Comparison of power output curve of hydraulic cylinder

Fig.9 Hydraulic principle of single outrigger

Fig.10 Simulation model of single outrigger hydraulic system

Fig.11 MATLAB calculation model based on robot dynamics equation

Fig.12 Variation curve of outrigger joint angle under pure position control mode

Fig.13 Variation curve of outrigger joint angle under force/position control mode

Fig.14 Comparison of hydraulic cylinder power output curves under different control modes


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