CN103625573A - Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot - Google Patents
Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot Download PDFInfo
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- CN103625573A CN103625573A CN201310422150.7A CN201310422150A CN103625573A CN 103625573 A CN103625573 A CN 103625573A CN 201310422150 A CN201310422150 A CN 201310422150A CN 103625573 A CN103625573 A CN 103625573A
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Abstract
The invention provides a snake-like robot based on orthogonal joints. The snake-like robot based on orthogonal joints comprises a plurality of joint modules of the same structure. Each joint module comprises a head base and a tail base, and the head base of each joint module is composed of U-shaped connecting rods. The invention further provides a spiral climbing movement controlling method for the snake-like robot based on orthogonal joints. The method is good in practicability, can dynamically adjust control parameters so that the climbing posture of the snake-like robot can be changed, is high in flexibility, and really controls the movement of the snake-like robot in three-dimensional space.
Description
Technical field
The present invention relates to robot and motion control field thereof, relate in particular to a kind of based on orthogonal joint snake-shaped robot and spiral climbing sports control method thereof.
Background technology
Due to the similar biological snake of snake-shaped robot without limb without wheel, power during motion derives from the friction force between its body surface and contact object completely, the rotation of internal body module joint, the friction force size and Orientation that body each several part is produced is different, force unbalance produces movement tendency, form various mode of motioies, snake-shaped robot can be imitated out the motion of some biological snake, and can create the mode of motion that biological snake does not have.At present, Chinese scholars is made and is studied in two-dimensional space the motion control of snake-shaped robot is many, relates to very less three-dimensional motion control research.
Now, control method to snake-shaped robot mode of motion comprises: the control based on motion gait realizes, this control method is according to the moving line of robot, to carry out suitable planning in advance, then set steering wheel and reverse specific corner to realize the motion of robot in certain particular moment, there is easily feature easy and simple to handle, but for different paths, must again plan famine alerting ability; Motion implementation method based on CPG (central pattern generator (cpg)) principle in one has been proposed again recent years, the method is to take the gait of mimic biology to produce principle be basis, design a kind of mode of motion producer and produce the rhythm and pace of moving things signal of controlling snake-shaped robot motion, control signal with this species rhythm signal as steering wheel, realize the motion of snake-shaped robot, but this CPG network is difficult to accurate modeling, and practicality is poor.
Summary of the invention
In order to overcome current snake-shaped robot motion control method alerting ability, the poor shortcoming of practicality, and break through and realize the technical barrier that snake-shaped robot is climbed in three dimensional space, the invention provides a kind of spiral of being convenient to realize and climb control method on orthogonal joint snake-shaped robot, and capable of dynamic adjusting control parameter is to realize the climbing attitude that changes snake-shaped robot, really realizes snake-shaped robot in three-dimensional motion control.
For achieving the above object, the present invention adopts following technical scheme:
A kind of based on orthogonal joint snake-shaped robot, the joint module that described orthogonal joint snake-shaped robot comprises a plurality of same structures, described joint module is divided into headstock and tailstock, described joint module headstock is to consist of U-shaped connecting rod, described joint module tailstock is by actuator, battery and protecting sheathing form, described joint module headstock U-shaped connecting rod is connected to the axle drive shaft of joint module tailstock actuator by mating holes, described battery is actuator power supply, described protecting sheathing is connected and composed by mating holes by left half shell and right half shell, the main body of described orthogonal joint snake-shaped robot is spliced mutually by a plurality of joint modules, two adjacent joint modules connect in the orthogonal mode of axle drive shaft, both orthogonal manner connected, last joint module tailstock is connected by mating holes with a rear joint module headstock.
Be applied to the spiral climbing sports control method based on orthogonal joint snake-shaped robot, the motion control equation of described orthogonal joint snake-shaped robot is:
θ
i＝A
i·sin(ω·t+k·i)+γ
i
Wherein, control parameter:
I: joint module sequence number, i=1,2 ... N;
θ
i: i joint module rotational angle;
A
i: i joint module maximum rotation angle;
ω: joint module angle change frequency;
K: mode of motion is controlled parameter;
γ
i: angle compensation amount;
T: time;
The time t of each joint module is synchronous, and ω is identical for angle change frequency, and it is identical and be not equal to zero or pi/2 that mode of motion is controlled parameter k;
Trigonometric function in described motion control equation can radian or angle be that unit calculates, corresponding joint module pivot angle θ
i, joint module maximum rotation angle A
iwith angle compensation amount γ
iall take radian and angle respectively as unit.
Described A
ijointly determine the shape of movement of snake-shaped robot with k; ω determines the kinematic velocity of snake-shaped robot; γ
imotion is carried out to angle compensation.
In described motion control equation, change A
isign symbol, can change the positive and negative sense of motion of robot; When k is constant, change A
iorder of magnitude, the pitch that can regulate snake-shaped robot snake body to form.
Beneficial effect of the present invention is mainly manifested in: the spiral climbing of being convenient to realize on orthogonal joint snake-shaped robot is controlled, practicality is good, and capable of dynamic regulates control parameter to realize the climbing attitude that changes snake-shaped robot, alerting ability is high, really realizes snake-shaped robot in three-dimensional motion control.
Accompanying drawing explanation
Fig. 1 orthogonal joint snake-shaped robot snake body constructional drawing.
Fig. 2 orthogonal joint snake-shaped robot joint module schematic diagram.
Fig. 3 orthogonal joint snake-shaped robot spiral climbing sports control chart.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As Fig. 1, shown in Fig. 2, a kind of based on orthogonal joint snake-shaped robot, the joint module 1 that described orthogonal joint snake-shaped robot comprises a plurality of same structures, described joint module 1 is divided into headstock 4 and tailstock 5, described joint module headstock 4 is to consist of U-shaped connecting rod 7, described joint module tailstock 5 is by actuator 8, battery 9 and protecting sheathing 6 form, described joint module headstock U-shaped connecting rod 7 is connected to the axle drive shaft 10 of joint module tailstock actuator 8 by mating holes, described battery 9 is actuator 8 power supplies, described protecting sheathing 6 is connected and composed by mating holes by left half shell 11 and right half shell 12, the main body of described orthogonal joint snake-shaped robot is spliced mutually by a plurality of joint modules 1, two adjacent joint modules 1 connect in the orthogonal mode of axle drive shaft 10, both orthogonal manner connected, last joint module tailstock 2 is connected by mating holes with a rear joint module headstock 3.
Be applied to the spiral climbing sports control method based on orthogonal joint snake-shaped robot, the motion control equation of described orthogonal joint snake-shaped robot is:
θ
i＝A
i·sin(ω·t+k·i)+γ
i
Wherein, control parameter:
I: joint module sequence number, i=1,2 ... N;
θ
i: i joint module rotational angle;
A
i: i joint module maximum rotation angle;
ω: joint module angle change frequency;
K: mode of motion is controlled parameter;
γ
i: angle compensation amount;
T: time;
The time t of each joint module is synchronous, and ω is identical for angle change frequency, and it is identical and be not equal to zero or pi/2 that mode of motion is controlled parameter k;
Trigonometric function in described motion control equation can radian or angle be that unit calculates, corresponding joint module pivot angle θ
i, joint module maximum rotation angle A
iwith angle compensation amount γ
iall take radian and angle respectively as unit.
As shown in Figure 3, described A
ijointly determine the shape of movement of snake-shaped robot with k; ω determines the kinematic velocity of snake-shaped robot; γ
imotion is carried out to angle compensation.
In described motion control equation, change A
isign symbol, can change the positive and negative sense of motion of robot; When k is constant, change A
iorder of magnitude, the pitch that can regulate snake-shaped robot snake body to form.
The above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in the protection domain of the claims in the present invention.
Claims (4)
1. one kind based on orthogonal joint snake-shaped robot, it is characterized in that: the joint module that described orthogonal joint snake-shaped robot comprises a plurality of same structures, described joint module is divided into headstock and tailstock, described joint module headstock is to consist of U-shaped connecting rod, described joint module tailstock is by actuator, battery and protecting sheathing form, described joint module headstock U-shaped connecting rod is connected to the axle drive shaft of joint module tailstock actuator by mating holes, described battery is actuator power supply, described protecting sheathing is connected and composed by mating holes by left half shell and right half shell, the main body of described orthogonal joint snake-shaped robot is spliced mutually by a plurality of joint modules, two adjacent joint modules connect in the orthogonal mode of axle drive shaft, both orthogonal manner connected, last joint module tailstock is connected by mating holes with a rear joint module headstock.
2. be applied to the spiral climbing sports control method based on orthogonal joint snake-shaped robot as claimed in claim 1, it is characterized in that, the motion control equation of described orthogonal joint snake-shaped robot is:
θ
i＝A
i·sin(ω·t+k·i)+γ
i
Wherein, control parameter:
I: joint module sequence number, i=1,2 ... N;
θ
i: i joint module rotational angle;
A
i: i joint module maximum rotation angle;
ω: joint module angle change frequency;
K: mode of motion is controlled parameter;
γ
i: angle compensation amount;
T: time;
The time t of each joint module is synchronous, and ω is identical for angle change frequency, and it is identical and be not equal to zero or pi/2 that mode of motion is controlled parameter k;
Trigonometric function in described motion control equation can radian or angle be that unit calculates, corresponding joint module pivot angle θ
i, joint module maximum rotation angle A
iwith angle compensation amount γ
iall take radian and angle respectively as unit.
3. the spiral climbing sports control method being applied to based on orthogonal joint snake-shaped robot according to claim 2, is characterized in that: described A
4jointly determine the shape of movement of snake-shaped robot with k; ω determines the kinematic velocity of snake-shaped robot; γ
imotion is carried out to angle compensation.
4. the spiral climbing sports control method being applied to based on orthogonal joint snake-shaped robot according to claim 3, is characterized in that: in described motion control equation, change A
isign symbol, can change the positive and negative sense of motion of robot; When k is constant, change A
iorder of magnitude, the pitch that can regulate snake-shaped robot snake body to form.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310422150.7A CN103625573A (en) | 2013-09-16 | 2013-09-16 | Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot |
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|---|---|---|---|
| CN201310422150.7A CN103625573A (en) | 2013-09-16 | 2013-09-16 | Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot |
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| CN103625573A true CN103625573A (en) | 2014-03-12 |
Family
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690725A (en) * | 2015-01-06 | 2015-06-10 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Attitude control method of snake-like robot |
| CN106695879A (en) * | 2016-08-09 | 2017-05-24 | 北京动力京工科技有限公司 | Ultra-elastic alloy slice mechanical arm |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
| CN107584482A (en) * | 2017-10-23 | 2018-01-16 | 南京理工大学 | A kind of snake-shaped robot |
| CN107719503A (en) * | 2017-11-25 | 2018-02-23 | 无锡锡东电力电气安装工程有限公司 | A kind of climbing robot and safety rope active suspension system for being used to hang safety rope |
| CN112550505A (en) * | 2020-12-18 | 2021-03-26 | 航天恒星科技有限公司 | Modular robot suitable for narrow and small space operation |
| CN112731802A (en) * | 2020-12-25 | 2021-04-30 | 华南理工大学 | Self-adaptive climbing control method, system, device and medium for snake-shaped robot |
| CN113733095A (en) * | 2021-09-18 | 2021-12-03 | 南开大学 | Three-dimensional motion gait generation method for wheel-free snake-shaped robot |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690725A (en) * | 2015-01-06 | 2015-06-10 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Attitude control method of snake-like robot |
| CN104690725B (en) * | 2015-01-06 | 2016-04-27 | 泰华宏业（天津）机器人技术研究院有限责任公司 | The attitude control method of snake-shaped robot |
| CN106695879A (en) * | 2016-08-09 | 2017-05-24 | 北京动力京工科技有限公司 | Ultra-elastic alloy slice mechanical arm |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
| CN107584482A (en) * | 2017-10-23 | 2018-01-16 | 南京理工大学 | A kind of snake-shaped robot |
| CN107719503A (en) * | 2017-11-25 | 2018-02-23 | 无锡锡东电力电气安装工程有限公司 | A kind of climbing robot and safety rope active suspension system for being used to hang safety rope |
| CN107719503B (en) * | 2017-11-25 | 2019-06-21 | 无锡锡东电力电气安装工程有限公司 | A kind of climbing robot and safety rope active suspension system for hanging safety rope |
| CN112550505A (en) * | 2020-12-18 | 2021-03-26 | 航天恒星科技有限公司 | Modular robot suitable for narrow and small space operation |
| CN112731802A (en) * | 2020-12-25 | 2021-04-30 | 华南理工大学 | Self-adaptive climbing control method, system, device and medium for snake-shaped robot |
| CN113733095A (en) * | 2021-09-18 | 2021-12-03 | 南开大学 | Three-dimensional motion gait generation method for wheel-free snake-shaped robot |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
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Application publication date: 20140312 |