CN105438305B - A kind of application method of bionical six limbs insect robot - Google Patents
A kind of application method of bionical six limbs insect robot Download PDFInfo
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Abstract
The invention discloses a kind of application methods of bionical six limbs insect robot, belong to bio-robot field, the problem of which solve existing six limbs insect motion mode is indefinite, and the foundation prior art cannot produce the high bionical six limbs insect robot for adapting to the adverse circumstances such as road conditions difference.Robot of the invention includes ontology and limbs, the limbs include a pair of of forelimb, a centering limb and a pair of of hind leg, a pair of of forelimb is symmetrically arranged at the two sides of ontology front end, the one centering limb is symmetrically arranged at the two sides in the middle part of ontology, and a pair of of hind leg is symmetrically arranged at the two sides of ontology rear end；The ontology is equipped with control element；The limbs are equipped with executive component；The executive component is connected with control element.The present invention can be accurately determined the motion mode of six limb insects, produce the bionical six limbs insect robot that can adapt to the adverse circumstances such as earthquake relief work.
Description
Technical field
The invention belongs to bio-robot fields, specifically, being related to a kind of user of bionical six limbs insect robot
Method.
Background technique
Bionic insect robot is ground the advantages that flexibly being stablized based on insect (such as six limb insects) movement, is adaptable
The movement mechanism of hair has preferable mobility, prominent to uneven road surface adaptability, can easily across larger barrier,
Therefore it has a wide range of applications in fields such as earthquake relief work, searching rescue, extraterrestrial exploration and military affairs.Six limb insects have 6
Leg is for supporting body and walking；When walking, the front and back leg on its one side and the middle leg of another side form one group, and three-point contact is protected
The stability of movement is demonstrate,proved.Although there are three legs in the every side of body, role is different to each leg during exercise
, foreleg is protruded to above-head, is mainly used for climbing barrier, and intermediate leg is mainly used for straight line walking, and back leg is in addition to protecting
It holds outside the rhythm with foreleg, also acts as steering-effecting.
Chinese Patent Application No. 201010133732.X, the patent document in publication date on October 6th, 2010, discloses one kind
Bionical six limbs insect robot based on double-four link mechanism, the robot include the identical foot of six groups of structures, and by institute
The upper and lower connecting plate that the foot stated links together.The sufficient configuration uses double-four link mechanism, is connected by three servo drivings double four
Linkage moves to simulate the hip joint, big leg joint and calf joint of six limb insects respectively.Bionical six limb of invention design
Insect robot is advanced using triped gait mode, to realize the triped gait movement of the robot.In order to increase robot
Bearing capacity, while three steering engines can be placed in rigidity and stabilization on the foot to improve entire robot
Property, which is used in the design of leg configuration by four-bar linkage, can be realized the amplification of power and movement, reduce and drive to steering engine
The requirement of kinetic force improves the load capacity of robot.In terms of bionics angle, bionical six limbs elder brother is designed using multi-link structure
Worm robot has reasonability.But the invention is the bionical six limbs insect robot of walking feature simulation according to six limb insects,
Although the bionical six limbs insect robot can be moved according to the feature of creeping of six limb insects, research emphasis lays particular emphasis on control
And simulation；Six limb insects are crawling insects most fast in the world, and speed allows people to be difficult to imagine fastly, and this protrusion feature with
And six the characteristics of motion invention of limb insect could not reflect.
Since six limb insect robots are a kind of highly branched chain movement mechanisms, driving joint number is greater than freedom of motion, because
This its kinematics analysis is complex.Although the country has some scholars to the fortune of the six limb insect robot such as six limb insect robots
It moves and is studied into mechanism and walking algorithm control etc., but it is studied with six limb insect actual movement rules in the presence of certain poor
Away from so can't produce can overcome adverse circumstances and carry out earthquake relief work, searching rescue, extraterrestrial exploration and military affairs
The bionical six limbs insect robot in equal fields.
Summary of the invention
1, it to solve the problems, such as
It is indefinite for existing six limbs insect motion mode, it cannot be produced according to the prior art and adapt to road conditions difference etc. badly
The problem of high bionical six limbs insect robot of environment, the present invention provide a kind of application method of bionical six limbs insect robot,
It can be accurately determined the motion mode of six limb insects, produce the bionical six limbs insect that can adapt to the adverse circumstances such as earthquake relief work
Robot.
2, technical solution
To solve the above problems, the present invention adopts the following technical scheme that.
A kind of bionical six limbs insect robot, including ontology and limbs, the limbs include a pair of of forelimb, a centering limb
With a pair of of hind leg, a pair of of forelimb is symmetrically arranged at the two sides of ontology front end, and a centering limb is respectively symmetrically
The two sides in portion in the body are set, a pair of of hind leg is symmetrically arranged at the two sides of ontology rear end, the forelimb, in
Limb, hind leg length be respectively L1、L2、L3, then the relationship between each length meets L2=1~1.3L1, L3=1.1~1.35L2；
The ontology is equipped with control element；The limbs are equipped with executive component；The executive component and control element phase
Even；The control element includes a signal receiver.
Preferably, the forelimb, middle limb and hind leg include large arm, middle arm and forearm；The large arm and ontology connects
It connects；The middle arm is connect with large arm；The forearm is connect with middle arm.
Preferably, the big arm lengths are S1, middle arm lengths be S2, forearm lengths S3, then each length meets relationship S2
=3S1Before, S3=4S1。
Preferably, the connection that the connection between the large arm and ontology is 0~30 ° of scope of activities；The large arm and
Connection, middle arm between middle arm and the connection between forearm are 0~90 ° of scope of activities of connection.
A kind of application method of bionical six limbs insect robot, the steps include:
1) preceding preparation is used, starting robot controls power supply, control element initialized, enabling signal receiver, established
The wireless connection of control element and computer；
2) Motor preparation, input signal, limit each limbs large arm, middle arm, between forearm scope of activities and time variation
Relationship:
The change of scope of activities between forelimb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ11=0, θ12=pi/2 * sin2(t), θ13=pi/2 * sin2(t)；
Wherein θ11For the angle between forelimb ontology and large arm, θ12For the angle between forelimb large arm and middle arm, θ13It is preceding
Angle in limb between arm and forearm；
The change of scope of activities between middle limb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ21=0, θ22=pi/2 * sin2(π/6 t+), θ23=pi/2 * sin2(t+π/6)；
Wherein θ21For the angle between middle limb ontology and large arm, θ22For the angle between middle limb large arm and middle arm, θ23For in
Angle in limb between arm and forearm；
The change of scope of activities between hind leg ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ31=0, θ32=pi/2 * sin2(π/3 t+), θ33=pi/2 * sin2(t+π/3)；
Wherein θ31For the angle between hind leg ontology and large arm, θ32For the angle between hind leg large arm and middle arm, θ33It is rear
Angle in limb between arm and forearm；
3) input signal controls each limbs large arm, middle arm, forearm junction are executed by following movement velocity:
Forelimb:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Middle limb:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Hind leg:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Wherein the initial value of t is 0；
4) it disconnects robot and controls power supply, movement stops.
Six limb insect motion modes of one kind determine method, the steps include:
1) data acquire, and acquire the exercise data in six limb insect limb static datas and motion process, and quiet according to this
State data and exercise data make six limb insect models；
2) according to large arm in static data collected in step 1) and exercise data computation model and ontology, middle arm and big
Positional relationship between arm, forearm and middle arm, and dynamic position of the forearm endpoint relative to ontology is finally obtained, with the first coordinate
Formula indicates；
3) it by the first coordinate formula obtained in step 2) according to static data and exercise data to time derivation, and combines
Jacobian matrix solves and transformation obtains linear velocity, angular velocity vector formula and the acceleration in six limb insect limb motion processes
Formula；
4) six limb insect limbs obtained in the six limb insect limb static datas and step 3) that acquire in step 1) are transported
Dynamic process centerline velocities, angular velocity vector and acceleration input computer carry out simulation analysis, with six limb insect actual motion sides
Formula compares, the motion mode of the bionical six limbs insect of preliminary identification；
5) six limb insect limb large arm of setting change with time with ontology, middle arm and large arm, forearm and middle arm junction
Relationship, and kinematic parameter obtained in above-mentioned steps is combined, input computer carries out simulation analysis, verifies and determines six limb insects fortune
Flowing mode.
Preferably, static data described in step 1) be six limb insect limbs and ontology positional relationship and large arm,
Length ratio relationship between middle arm, forearm.
Preferably, exercise data described in step 2) is that large arm is opposite relative to large arm, forearm relative to ontology, middle arm
In the scope of activities and angle of middle arm.
Preferably, the positional relationship between large arm described in step 2) and ontology, middle arm and large arm, forearm and middle arm is logical
It crosses and establishes three-dimensional system of coordinate in ontology mass center, large arm and middle arm tie point, middle arm and forearm tie point, 4 points of forearm endpoint, then
It is indicated with the coordinate value of each point；The relationship for solving each coordinate value obtains dynamic position of the forearm endpoint relative to ontology.
Preferably, the tool that simulation analysis uses in step 4) is MATLAB software.
3, beneficial effect
Compared with the prior art, the invention has the benefit that
(1) bionical six limbs insect robot of the invention can sufficiently apply six limb insect motion modes, accurately simulate six
Limb insect realizes seeking, exploration application in particular surroundings such as earthquake relief works, and movement is flexible, high sensitivity, kinetic stability
Height can cross different barriers, adapt to rough pavement behavior；
(2) present invention determine that the method for six limb insect motion modes, by being simplified to six limb insect models；And it builds
Six limb insect motion analysis models have been found, the motion pose of six limb insects each limbs during the motion is deduced, have been established
The differential motion relationship and speed, acceleration analysis method of junction in six each limbs of limb insect and limbs, and utilize
MATLAB has carried out Kinematics Simulation verifying, the results showed that in given limbs in tie point scope of activities, six determining limb elder brothers
Worm motion mode and the acceleration of limbs, speed when six limb insect actual motions are almost the same, to demonstrate theory analysis
Correctness and feasibility are laid a good foundation for the manufacture and application etc. of bionical six limbs insect robot；
(3) application method of the bionical six limbs insect robot of the present invention is used by control robot close to six limb insects
Actual motion mode has the advantages that simulation effect is true to nature；
(4) the method for the present invention is by establishing coordinate system in each tie point of limbs, when can accurately understand six limb insects and creeping
The advantages of characteristics of motion；
(5) the method for the present invention is analyzed by the pose of each tie point of limbs, and uses matrix solving method, obtains forearm
Dynamic position of the endpoint relative to ontology, does so the flexibility ratio that bionical six limbs insect robot can be improved；
(6) the method for the present invention is by obtaining six limb insect limbs to time derivation, and in conjunction with Jacobian matrix solution and transformation
Linear velocity, angular velocity vector formula and Acceleration Formula in body motion process, the characteristics of motion being achieved in that is more accurate, with
Just the bionical six limbs insect robot of design high-precision.
Detailed description of the invention
Fig. 1 is the bionical six limbs insect robot schematic diagram of mechanism of the present invention；
Fig. 2 is the method for the present invention model schematic diagram；
Fig. 3 is the method for the present invention forelimb modeling figure；
Fig. 4 is limb modeling figure in the method for the present invention；
Fig. 5 is the method for the present invention hind leg modeling figure；
Fig. 6 is the method for the present invention limbs speed comprehensive simulating figure；
Fig. 7 is the method for the present invention limbs acceleration comprehensive simulating figure.
Specific embodiment
Present invention will now be described in detail with reference to the accompanying drawings..
As shown in Figure 1, a kind of bionical six limbs insect robot, including ontology and limbs, limbs include a pair of of forelimb, a pair
Middle limb and a pair of of hind leg, a pair of of forelimb are symmetrically arranged at the two sides of ontology front end, and a centering limb is symmetrically arranged at this
Two sides in the middle part of body, a pair of of hind leg are symmetrically arranged at the two sides of ontology rear end；Forelimb, middle limb and hind leg include large arm,
Middle arm and forearm；Large arm is connect with ontology；Middle arm is connect with large arm；The big arm lengths of forelimb are S1Arm lengths in=50mm, forelimb
For S2=150mm, forelimb forearm lengths are S3=200mm；The company that connection between large arm and ontology is 0~30 ° of scope of activities
It connects；Connection, middle arm between large arm and middle arm and the connection between forearm are 0~90 ° of scope of activities of connection；Forearm is in
Arm connection.Forelimb length is L1=400mm, then in limb L2=1~1.3L1=400~520mm, L3=1.1~1.35L2=440
~702mm.
A kind of application method of bionical six limbs insect robot, the steps include:
1) preceding preparation is used, starting robot controls power supply, control element initialized, enabling signal receiver, established
The wireless connection of control element and computer；
2) Motor preparation limits each limbs large arm, middle arm, between forearm by computer to control element input signal
The variation relation of scope of activities and time:
The change of scope of activities between forelimb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ11=0, θ12=pi/2 * sin2(t), θ13=pi/2 * sin2(t)；
Wherein θ11For the angle between forelimb ontology and large arm, θ12For the angle between forelimb large arm and middle arm, θ13It is preceding
Angle in limb between arm and forearm；
The change of scope of activities between middle limb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ21=0, θ22=pi/2 * sin2(π/6 t+), θ23=pi/2 * sin2(t+π/6)；
Wherein θ21For the angle between middle limb ontology and large arm, θ22For the angle between middle limb large arm and middle arm, θ23For in
Angle in limb between arm and forearm；
The change of scope of activities between hind leg ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ31=0, θ32=pi/2 * sin2(π/3 t+), θ33=pi/2 * sin2(t+π/3)；
Wherein θ31For the angle between hind leg ontology and large arm, θ32For the angle between hind leg large arm and middle arm, θ33It is rear
Angle in limb between arm and forearm；
3) by computer input signal, each limbs large arm is controlled, middle arm, forearm junction are held by following movement velocity
Row:
Forelimb:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Middle limb:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Hind leg:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Wherein the initial value of t is 0；
4) it disconnects robot and controls power supply, movement stops.
Six limb insect motion modes of one kind determine method, the steps include:
1) data acquire, and acquire the exercise data in six limb insect limb static datas and motion process, and static data is
The positional relationship and large arm of six limb insect limbs and ontology, middle arm, the length ratio relationship between forearm；Exercise data is big
Scope of activities and angle of the arm relative to ontology, middle arm relative to large arm, forearm relative to middle arm；And according to the static data and
Exercise data makes the theoretical model or physical model of bionical six limbs insect robot；
2) according to large arm in static data collected in step 1) and exercise data computation model and ontology, middle arm and big
Positional relationship between arm, forearm and middle arm, the positional relationship by ontology mass center, large arm and middle arm tie point, middle arm with
Forearm tie point, 4 points of forearm endpoint establish three-dimensional system of coordinate, then indicated with the coordinate value of each point；Solve the pass of each coordinate value
System, obtains dynamic position of the forearm endpoint relative to ontology, which is indicated with the first coordinate formula；
3) it by the first coordinate formula obtained in step 2) according to static data and exercise data to time derivation, and combines
Jacobian matrix solves and transformation obtains linear velocity, angular velocity vector formula and the acceleration in six limb insect limb motion processes
Formula；
4) six limb insect limbs obtained in the six limb insect limb static datas and step 3) that acquire in step 1) are transported
Dynamic process centerline velocities, angular velocity vector and acceleration input computer simultaneously, carry out simulation analysis using MATLAB software, with
Six limb insect actual motion modes compare, and determine the motion mode of bionical six limbs insect robot；
The present invention is further described below combined with specific embodiments below.
Embodiment 1
As shown in Figure 1, a kind of bionical six limbs insect robot, including ontology and limbs, limbs include a pair of of forelimb, a pair
Middle limb and a pair of of hind leg, a pair of of forelimb are symmetrically arranged at the two sides of ontology front end, and a centering limb is symmetrically arranged at this
Two sides in the middle part of body, a pair of of hind leg are symmetrically arranged at the two sides of ontology rear end；Forelimb, middle limb and hind leg include large arm,
Middle arm and forearm；Large arm is connect with ontology；Middle arm is connect with large arm；The big arm lengths of forelimb are S1Arm lengths in=50mm, forelimb
For S2=150mm, forelimb forearm lengths are S3=200mm；The middle big arm lengths of limb are S1Arm lengths are S in=60mm, middle limb2=
180mm, middle primary minimum arm lengths are S3=240mm；The big arm lengths of hind leg are S1Arm lengths are S in=72mm, hind leg2=216mm,
Forelimb forearm lengths are S3=288mm；Connection angle between large arm and ontology is 30 °；Connection between large arm and middle arm, in
Connection between arm and forearm is 0~90 ° of scope of activities of connection.
A kind of application method of bionical six limbs insect robot, the steps include:
1) preceding preparation is used, starting robot controls power supply, control element initialized, enabling signal receiver, established
The wireless connection of control element and computer；
2) Motor preparation limits each limbs large arm, middle arm, between forearm by computer to control element input signal
The variation relation of scope of activities and time:
The change of scope of activities between forelimb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ11=0, θ12=pi/2 * sin2(t), θ13=pi/2 * sin2(t)；
Wherein θ11For the angle between forelimb ontology and large arm, θ12For the angle between forelimb large arm and middle arm, θ13It is preceding
Angle in limb between arm and forearm；
The change of scope of activities between middle limb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ21=0, θ22=pi/2 * sin2(π/6 t+), θ23=pi/2 * sin2(t+π/6)；
Wherein θ21For the angle between middle limb ontology and large arm, θ22For the angle between middle limb large arm and middle arm, θ23For in
Angle in limb between arm and forearm；
The change of scope of activities between hind leg ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ31=0, θ32=pi/2 * sin2(π/3 t+), θ33=pi/2 * sin2(t+π/3)；
Wherein θ31For the angle between hind leg ontology and large arm, θ32For the angle between hind leg large arm and middle arm, θ33It is rear
Angle in limb between arm and forearm；
3) by computer input signal, each limbs large arm is controlled, middle arm, forearm junction are held by following movement velocity
Row:
Forelimb:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Middle limb:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Hind leg:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Wherein the initial value of t is 0, and the termination time is 20s；
4) it disconnects robot and controls power supply, movement stops.
Six limb insect motion modes of one kind determine method, the specific steps are that:
1) data acquire, and acquire the exercise data in six limb insect limb static datas and motion process, and static data is
The positional relationship and large arm of six limb insect limbs and ontology, middle arm, the length ratio relationship between forearm；Exercise data is big
Scope of activities and angle of the arm relative to ontology, middle arm relative to large arm, forearm relative to middle arm；And according to the static data and
Exercise data makes six limb insect models, due to six limb insect bodies bilateral symmetries, therefore in the method when only consider on one side, such as
Shown in Fig. 2, A1B1 is forelimb large arm, and B1C1 is arm in forelimb, and C1D1 is forelimb forearm；A2B2 is middle limb large arm, during B2C2 is
Arm in limb, C2D2 are middle primary minimum arm；A3B3 is hind leg large arm, and B3C3 is arm in hind leg, and C3D3 is hind leg forearm；
2) according to large arm in static data collected in step 1) and exercise data computation model and ontology, middle arm and big
Positional relationship between arm, forearm and middle arm, the positional relationship by ontology mass center, large arm and middle arm tie point, middle arm with
Forearm tie point, 4 points of forearm endpoint establish three-dimensional system of coordinate, then indicated with the coordinate value of each point；Solve the pass of each coordinate value
System, obtains dynamic position of the forearm endpoint relative to ontology, which is indicated with the first coordinate formula；Concrete operation step
It is as follows:
The modeling of forelimb, as shown in figure 3, being established by origin O of bionical six limbs insect robot theoretical model ontology mass center
The first coordinate system Ox0y0z0, using the tie point of large arm and ontology as origin A1The the second coordinate system A established1x1y1z1, with large arm
Tie point with middle arm is origin B1The third coordinate system B of foundation1x2y2z2, using the tie point of middle arm and forearm as origin C1It establishes
4-coordinate system C1x3y3z3, using the endpoint of forearm as origin D1The Five Axis system D established for origin1x4y4z4, wherein greatly
Arm, middle arm, forearm length be followed successively by l11、l12、l13；
The pose of forelimb is analyzed:
From O point to A1, translation, along x0A is translated, along y0Axis translates b, i.e., from coordinate system Ox0y0z0To coordinate system A1x1y1z1,
Transformation matrix is
From A1To B1Point, rotation plus translation, i.e., from coordinate system A1x1y1z1To coordinate system B1x2y2z2, around y1Axis turns θ11Angle becomes
Changing matrix is
Along x1Axis translates l11, transformation matrix is
Therefore A1To B1The transformation matrix of pointAre as follows:
From B1Point arrives C1Point, translation；I.e. from coordinate system B1x2y2z2To coordinate system C1x3y3z3, transformation matrix is
From C1Point arrives D1Point, translation；I.e. from coordinate system C1x3y3z3To coordinate system D1x4y4z4, transformation matrix is
Therefore from O to D1Point transformation matrix be
Wherein coordinate system D1x4y4z4To coordinate system Ox0y0z0Rotational transformation matrix be
D1The position of point is
Wherein θ11For the second coordinate system A1x1y1z1Middle x1Angle between axis and large arm, θ12For forelimb large arm and middle arm it
Between angle, θ13For the angle in forelimb between arm and forearm；
3) it by the first coordinate formula obtained in step 2) according to static data and exercise data to time derivation, and combines
Jacobian matrix solves and transformation obtains linear velocity, angular velocity vector formula and the acceleration in six limb insect limb motion processes
Formula；Concrete operations are as follows:
The velocity analysis of forelimb
Speed can be obtained to the derivation of time t to formula obtained in step 2) (1)
Write formula (2) as matrix formWherein v1=[vx1 vy1 vz1]TFor robot D1Point linear velocity arrow
Amount；For the broadest scope vector in each joint of robot leg；J1lcvFor the D of robot leg1The linear velocity of point is refined
Comparable matrix,
The solution of forelimb Jacobian matrix
Local derviation is asked to each joint of robot leg respectively, can be obtained:
By formula (3)~formula (5), last first three element arranged is arranged successively, and is formed 3 × 3 matrixes, is obtained machine
The linear velocity Jacobian matrix J of device peoplelcv, wherein
Then it can be obtained:
It is by rotational transformation matrix
Wherein n1=[cos θ110-sinθ11]T, o1=[010]T, a1=[sin θ110cosθ11]T；Then
So angular speed Jacobian matrix is
The linear velocity and angular velocity vector of bionical six limbs insect robot forelimb can be expressed as
The acceleration of forelimb determines
By formula (13) to the derivation of time t, obtain
Wherein
With the above-mentioned modeling to forelimb, the modeling of limb in progress, as shown in figure 4, theoretical with bionical six limbs insect robot
Model ontology mass center is the first coordinate system Ox that origin O is established0y0z0, using the tie point of large arm and ontology as origin A2It establishes
Second coordinate system A2x2y2z2, using the tie point of large arm and middle arm as origin B2The third coordinate system B of foundation2x2y2z2, with middle arm with
The tie point of forearm is origin C2The 4-coordinate system C established2x2y2z2, using the endpoint of forearm as origin D2The established for origin
Five Axis system D2x2y2z2, wherein large arm, middle arm, forearm length be followed successively by l21、l22、l23。
With the determination method of forelimb, D2Point position expression be
Corresponding angular speed Jacobian matrix are as follows:
The linear velocity and angular velocity vector of bionical six limbs insect robot, second group of leg can respectively indicate
Acceleration may be expressed as:
With the above-mentioned modeling to forelimb, the modeling of hind leg is carried out, as shown in figure 5, theoretical with bionical six limbs insect robot
Model ontology mass center is the first coordinate system Ox that origin O is established0y0z0, using the tie point of large arm and ontology as origin A3It establishes
Second coordinate system A3x3y3z3, using the tie point of large arm and middle arm as origin B3The third coordinate system B of foundation3x3y3z3, with middle arm with
The tie point of forearm is origin C3The 4-coordinate system C established3x3y3z3, using the endpoint of forearm as origin D3The established for origin
Five Axis system D3x3y3z3, wherein large arm, middle arm, forearm length be followed successively by l31、l32、l33。
With the determination method of forelimb, D3Point position expression be
Corresponding angular speed Jacobi square
The linear velocity and angular velocity vector of bionical six limbs insect robot third group leg can be expressed as
Acceleration is represented by
4) six limb insect limbs obtained in the six limb insect limb static datas and step 3) that acquire in step 1) are transported
Dynamic process centerline velocities, angular velocity vector and acceleration input computer simultaneously, carry out simulation analysis using MATLAB software, with
Six limb insect actual motion modes compare, the motion mode of the bionical six limbs insect of preliminary identification:
Forelimb, middle limb, hind leg individually emulate, in the present embodiment the big arm lengths of forelimb be S1=50mm, arm lengths in forelimb
It is S3=200mm for S2=150mm, forelimb forearm lengths；The middle big arm lengths of limb are S1=60mm, arm lengths are S2=in middle limb
180mm, middle primary minimum arm lengths are S3=240mm；The big arm lengths of hind leg are S1=72mm, in hind leg arm lengths be S2=216mm,
Forelimb forearm lengths are S3=288mm；To simplify the calculation, it is assumed that the angular speed and angular acceleration of each leg joint are 1, and
Data are directly substituted into programming process.Connection angle in simulation calculation between large arm and ontology is 30 °, thereforeConnection, middle arm between large arm and middle arm and the connection between forearm be scope of activities 0~
90 ° of connection；
5) six limb insect limb large arm of setting change with time with ontology, middle arm and large arm, forearm and middle arm junction
Relationship, and kinematic parameter obtained in above-mentioned steps is combined, input computer carries out simulation analysis, verifies and determines six limb insects fortune
Flowing mode:
Emulation in step 4) all sets each limbs large arm, middle arm, changes between forearm within the scope of 0 °~90 °, but
Every group of leg is the coordinated movement of various economic factors during actual motion of six limb insects, it is impossible to the variation of the joint foot of every group of leg is consistent,
So assuming that each limbs large arm, middle arm, the variation between the forearm relationship that changes with time are as follows in following emulation:
The change of scope of activities between forelimb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ11=0, θ12=pi/2 * sin2(t), θ13=pi/2 * sin2(t)；
Wherein θ11For the angle between forelimb ontology and large arm, θ12For the angle between forelimb large arm and middle arm, θ13It is preceding
Angle in limb between arm and forearm；
The change of scope of activities between middle limb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ21=0, θ22=pi/2 * sin2(π/6 t+), θ23=pi/2 * sin2(t+π/6)；
Wherein θ21For the angle between middle limb ontology and large arm, θ22For the angle between middle limb large arm and middle arm, θ23For in
Angle in limb between arm and forearm；
The change of scope of activities between hind leg ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time
Change relationship is respectively:
θ31=0, θ32=pi/2 * sin2(π/3 t+), θ33=pi/2 * sin2(t+π/3)；
Wherein θ31For the angle between hind leg ontology and large arm, θ32For the angle between hind leg large arm and middle arm, θ33It is rear
Angle in limb between arm and forearm；
Each limbs large arm, middle arm, the corresponding angular speed in forearm junction and angular acceleration difference are as follows:
Forelimb:
Middle limb:
Hind leg:
It brings above data into MATLAB software to emulate, time t is set from 0 second to 20 second, obtain three groups of limbs speed
Degree, acceleration comprehensive simulating figure, as shown in Figure 6, Figure 7.
Determine the motion mode of six limb insects:
It is completed when six limb insect motions by forelimb, middle limb, hind leg cooperation, but forelimb, middle limb, hind leg are not uniformly distributed
's；Forelimb is protruded to above-head and length is most short, is mainly used for climbing barrier and supports front head weight, at one
React relatively slow when movement in the period of motion, thus the acceleration of motion of forelimb, rate curve accordingly lag behind middle limb and after
Limb；Middle limb is mainly used for straight line walking, but due to being responsible for most weight, for hind leg, acceleration, speed are bent
Line relatively lags behind, and there are time lags when running within a period of motion；Hind leg in addition to keep with forelimb in limb rhythm other than,
Steering-effecting is also acted as, and undertakes latter half of body weight, and length longest, therefore corresponding acceleration, rate curve are in song
Most fast, peak value maximum is reacted on line chart；Due to selecting reference point for six limb insect mass centers herein, even if six limb insects run
When tiptoe land, but its body be still move forwards, so, do not occur corresponding zero point phenomenon in simulation curve.From with
Simulation curve in the scope of activities in given joint of upper analysis and each limb it is found that three limbs acceleration, velocity simulation curve
It is with the actual motions of six limb insects rule substantially coincident, so that it is determined that bionical six limbs insect robot motion mode is just
True property and feasibility are laid a good foundation for the manufacture and application etc. of bionical six limbs insect robot.
Claims (1)
1. a kind of application method of bionical six limbs insect robot, the bionical six limbs insect robot includes ontology and limbs,
The limbs include a pair of of forelimb, a centering limb and a pair of of hind leg, before a pair of of forelimb is symmetrically arranged at ontology
The two sides at end, a centering limb are symmetrically arranged at the two sides in the middle part of ontology, and a pair of of hind leg is respectively symmetrically set
Set the two sides in ontology rear end, it is characterised in that: the forelimb, middle limb, hind leg length be respectively L1、L2、L3, then each length
Relationship between degree meets L2=1~1.3L1, L3=1.1~1.35L2；The ontology is equipped with control element；The limb
Body is equipped with executive component；The executive component is connected with control element；The control element includes that a signal receives
Device；
Forelimb, middle limb and the hind leg includes large arm, middle arm and forearm；The large arm is connect with ontology；In described
Arm is connect with large arm；The forearm is connect with middle arm；
The big arm lengths are S1, middle arm lengths be S2, forearm lengths S3, then each length meets relationship S2=3S1, S3=
4S1；
The connection that connection between the large arm and ontology is 0~30 ° of scope of activities；Company between the large arm and middle arm
It connects, the connection between middle arm and forearm is 0~90 ° of scope of activities of connection；
It the steps include:
1) preceding preparation is used, starting robot controls power supply, control element initialized, enabling signal receiver；
2) Motor preparation, input signal, limit each limbs large arm, middle arm, between forearm scope of activities and time variation relation:
The variation of scope of activities between forelimb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time is closed
System is respectively:
θ11=0, θ12=pi/2 * sin2(t), θ13=pi/2 * sin2(t)；
Wherein θ11For the angle between forelimb ontology and large arm, θ12For the angle between forelimb large arm and middle arm, θ13For in forelimb
Angle between arm and forearm；
The variation of scope of activities between middle limb ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time is closed
System is respectively:
θ21=0, θ22=pi/2 * sin2(π/6 t+), θ23=pi/2 * sin2(t+π/6)；
Wherein θ21For the angle between middle limb ontology and large arm, θ22For the angle between middle limb large arm and middle arm, θ23For in middle limb
Angle between arm and forearm；
The variation of scope of activities between hind leg ontology and large arm, between large arm and middle arm, between middle arm and forearm t at any time is closed
System is respectively:
θ31=0, θ32=pi/2 * sin2(π/3 t+), θ33=pi/2 * sin2(t+π/3)；
Wherein θ31For the angle between hind leg ontology and large arm, θ32For the angle between hind leg large arm and middle arm, θ33For in hind leg
Angle between arm and forearm；
3) input signal controls each limbs large arm, middle arm, forearm junction are executed by following movement velocity:
Forelimb:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Middle limb:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Hind leg:
Ontology and the angular speed of large arm junction are
Angular acceleration is
Large arm and the angular speed of middle arm junction are
Angular acceleration is
Middle arm and the angular speed of forearm junction are
Angular acceleration is
Wherein the initial value of t is 0；
4) it disconnects robot and controls power supply, movement stops.
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