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復雜地形下仿生輪腿式機器人位姿控制研究
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國家重點研發(fā)計劃項目(2022YFD2202102)和財政部和農業(yè)農村部:國家現(xiàn)代農業(yè)產業(yè)技術體系項目(CARS-34)


Pose Control of Biomimetic Wheel-legged Robots in Complex Terrain
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    摘要:

    丘陵山地地勢復雜、地形多變,,農機裝備作業(yè)環(huán)境以傾斜角度較大的斜坡為主,,傳統(tǒng)農機裝備在丘陵山區(qū)復雜地形下作業(yè)時效率低、穩(wěn)定性差,,甚至會出現(xiàn)側傾,、翻車等現(xiàn)象。本文從仿生機械設計角度出發(fā),,提出一種在丘陵山地復雜地形下能夠自主實現(xiàn)位姿調平控制的輪腿式機器人平臺,,提升復雜地形下的作業(yè)穩(wěn)定性和安全性。以昆蟲后足為仿生機械設計對象,,并結合多連桿機構原理,,完成新型變行程輪腿機構及機器人平臺的整體架構設計。采用D-H參數(shù)法分析了輪腿機構運動學特性,,結果顯示輪腿式機器人離地間隙最大調整量為574mm,,具備較強的越障能力。在空間坐標系上定義輪腿式機器人空間姿態(tài)參數(shù),,推導得到機身姿態(tài)角與輪腿伸縮量之間的空間姿態(tài)模型,,并設計了基于NSGA-Ⅱ的機身空間姿態(tài)逆解算法?;诳臻g姿態(tài)逆解算法構建了輪腿式機器人全向位姿調平位姿控制系統(tǒng),,包含機身調平控制器、“虛腿”補償控制器和質心高度控制器,,在復雜地形下行駛時能夠控制輪腿式機器人俯仰角、側傾角,、接地力,、質心高度等空間姿態(tài)參數(shù),然后通過搭建的輪腿式機器人ADAMS-Matlab聯(lián)合仿真模型完成了位姿控制系統(tǒng)算法仿真驗證,。在機器人樣機上開展了離地間隙自動調整和機身全向位姿調平試驗,,試驗結果表明,,試驗樣機離地間隙最大調整量為574mm,同時在復雜地形下能夠實現(xiàn)機身位姿全向自動調平,,調平平均時間約為1.2s,,調平平均誤差為0.8°,位姿控制響應速度與調平精度能夠滿足實際工作要求,。

    Abstract:

    The terrain in hilly and mountainous areas is complex and diverse,,and the operating environment of agricultural machinery equipment is mainly inclined slopes. Traditional agricultural machinery equipment has low efficiency and poor stability when operating in complex terrain in hilly and mountainous areas,and may even cause serious accidents such as tilting and overturning. A wheel-legged robot platform that can autonomously achieve pose leveling control in complex terrain of hills and mountains was proposed from the perspective of biomimetic mechanical design,,improving the stability and safety of operations in complex terrain. Firstly,,taking the insect hind foot as the biomimetic mechanical design object,and combining the principle of multi link mechanism,,the overall architecture design of the new variable stroke wheel-legged mechanism and robot platform was completed. The kinematics characteristics of the wheel leg mechanism were analyzed by using the D-H parameter method. The results showed that the maximum adjustment of the ground clearance of the wheel-legged robot was 574mm,,and it had a strong ability to surmount obstacles. Then the spatial attitude parameters of the wheel-legged robot were defined in the spatial coordinate system,and the spatial attitude model between the fuselage attitude angle and the wheel leg extension was derived. An NSGA-Ⅱ based algorithm for inverse solution of the fuselage spatial attitude was designed. Based on the spatial attitude inverse solution algorithm,,an omnidirectional attitude control system for wheel-legged robots was constructed, which included a vehicle body leveling controller,,a “virtual leg” compensation controller, and a centroid height controller. It can control the spatial attitude parameters of wheel-legged robots such as pitch angle,roll angle,,grounding force,,and centroid height when driving in complex terrain. The algorithm simulation verification of the pose control system was completed through the ADAMS-Matlab joint simulation model of the wheel-legged robot. Finally,experiments on automatic adjustment of ground clearance and omnidirectional posture adjustment of the vehicle body were conducted on the robot prototype. The results showed that the maximum adjustment amount of the ground clearance of the test prototype was 574mm,,and the omnidirectional automatic leveling of the vehicle body posture could be achieved in complex terrain. The average leveling time was about 1.2s,,and the average leveling error was 0.8°. The response speed and leveling accuracy of the posture control could meet the actual work requirements.

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張慶,潘烤鑫,王振宇,黃韶炯,尤泳,王德成.復雜地形下仿生輪腿式機器人位姿控制研究[J].農業(yè)機械學報,2024,55(6):380-391,403. ZHANG Qing, PAN Kaoxin, WANG Zhenyu, HUANG Shaojiong, YOU Yong, WANG Decheng. Pose Control of Biomimetic Wheel-legged Robots in Complex Terrain[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(6):380-391,,403.

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  • 收稿日期:2023-10-26
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  • 在線發(fā)布日期: 2024-06-10
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