| Innovative Design |
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| Gait planning and obstacle-surmounting performance analysis of wheel-track-leg composite bionic robot |
Hong-bin RUI( ),Lu-lu LI(),Wei CAO,Tian-ci WANG,Kai-wen DUAN,Ying-hui WU |
| School 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 obstacle-surmounting performance of mobile robots and realize autonomous obstacle-surmounting, a wheel-track-leg composite bionic robot was designed, and its gait planning and obstacle-surmounting performance were analyzed.Firstly, taking the turtle as the bionic object, through analyzing its body structure and stability mechanism, the wheel-track-leg composite mobile mechanism and the two degree of freedom leg structure of the robot were designed; at the same time, based on the structural characteristics of the robot, the coordinate system was established by D-H (Denavit-Hartenberg) method, and the kinematic equation of its leg was solved. Then, by observing the turtles crawling process, the movements in a single crawling gait cycle were decomposed into leg release, crawling, leg lift and leg swing. Combined with the kinematic model, the gait planning for the robot was carried out, and four imitation turtle crawling gaits were proposed. And then, taking the four-legged crawling gait of the robot as an example, the force of its leg joint was analyzed by the statics method. Then, through analyzing the process of the robot crossing trench and climbing step, the obstacle-surmounting performance was evaluated by taking the maximum crossing trench width and climbing step height as the index. Finally, the robot experimental prototype was made to carry out the gait experiment and obstacle-surmounting experiment. The experiment results showed that the robot could use four imitation turtle crawling gaits to realize lateral movement, longitudinal movement and in-situ rotation, and had good obstacle-surmounting performance and stability; the robot could cross the trench with a maximum width of 434 mm and climb the step with a maximum height of 175 mm.The experimental results further verified that the designed imitation turtle mechanical structure was feasible, the planned imitation turtle crawling gait was reasonable, and the established theoretical model of obstacle-surmounting was correct. The research results can provide reference for the structural optimization and obstacle-surmounting performance improvement of mobile robots.
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Received: 08 July 2021
Published: 06 May 2022
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Corresponding Authors:
Lu-lu LI
E-mail: Hongbin.rui@126.com;1515609245@qq.com
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轮-履-腿复合仿生机器人步态规划及越障性能分析
为了提高移动机器人的越障性能，实现其自主越障，设计了一种轮-履-腿复合仿生机器人，并对其进行步态规划和越障性能分析。首先，以海龟为仿生对象，通过分析其身体结构和稳定机理，设计了机器人的轮-履-腿复合式移动机构和二自由度支腿结构；同时，基于该机器人的结构特征，利用D-H（Denavit-Hartenberg）法建立了坐标系并求解了其支腿的运动学方程。然后，通过观察海龟的爬行过程，将其单个爬行步态周期内的动作分解成放腿、爬行、抬腿和摆腿，并结合运动学模型对机器人进行步态规划，提出了4种仿海龟爬行步态。接着，以机器人的四腿爬行步态为例，利用静力学方法分析了其支腿关节的受力情况，而后通过分析机器人跨越壕沟和攀越台阶的过程，以最大跨越壕沟宽度和攀越台阶高度为指标对其越障性能进行了评价。最后，制作了机器人实验样机，开展了步态实验和越障实验。实验结果表明，该机器人可以利用4种仿海龟爬行步态实现横向移动、纵向移动和原地旋转，且具有很好的越障性能和稳定性；机器人能跨越最大宽度为434 mm的壕沟，攀越最大高度为175 mm的台阶。实验结果进一步验证了所设计的仿海龟机械结构可行，所规划的仿海龟爬行步态合理，以及所建立的越障理论模型正确。研究结果可为移动机器人的结构优化和越障性能提升提供借鉴。
关键词：
仿生机器人,
越障性能,
步态规划,
运动学方程,
D-H法
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