CN113120113A - Reconfigurable parallel-closed chain connecting rod leg type robot - Google Patents
Reconfigurable parallel-closed chain connecting rod leg type robot Download PDFInfo
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- CN113120113A CN113120113A CN202110287566.7A CN202110287566A CN113120113A CN 113120113 A CN113120113 A CN 113120113A CN 202110287566 A CN202110287566 A CN 202110287566A CN 113120113 A CN113120113 A CN 113120113A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a reconfigurable parallel-closed chain connecting rod legged robot, which comprises a rack and four single-leg structures arranged at the front, the rear, the left and the right of the rack, wherein each single-leg structure comprises a first power arm, a second power arm, an upper rocker, a lower rocker, three rods connected with the rack, a rack connecting rod, a tail end connecting rod and a landing leg, and the rods form a first crank rocker mechanism ABCE, a second crank rocker mechanism ABC 'D and a parallel four-bar mechanism AEHF, wherein the first crank rocker mechanism ABCE and the second crank rocker mechanism ABC' D are vertically and symmetrically arranged relative to an AB connecting line to form a motion generation mechanism, and the parallel four-bar mechanism AEHF is used for synthesizing the trajectories of an F point and an E point. The single-leg structure has the characteristics of strong bearing capacity of the closed chain mechanism and simple control, and has the advantages of various gaits and flexible movement of the parallel mechanism and the open chain mechanism.
Description
Technical Field
The invention relates to a quadruped robot, in particular to a reconfigurable parallel-closed chain connecting rod legged robot.
Background
At present, quadruped robots with a rod set as a single-leg structure have many models, and can be roughly divided into three categories: the chain opening mechanism, the chain closing mechanism and the parallel mechanism.
In the development of a four-legged robot, although a connecting rod of an open chain mechanism (a serial legged structure) has flexible gait and strong terrain adaptability, the requirement on a joint driving motor is high, and the control precision is difficult to guarantee, so that the control difficulty is high, and the bearing capacity is poor.
With the development of technology, quadruped robots using a closed-loop five-bar mechanism as a leg structure of the robot have been gradually developed, such as Minitaur of the university of pennsylvania, Stanford Doggo of an open source robot Stanford Doggo of Stanford, and quadruped robots of a parallel five-bar structure of the university of wuhan.
Although the closed-chain five-rod structure is simple to control and high in load capacity, the closed-chain five-rod structure is single in pace and difficult to adapt to complex terrains.
The parallel five-rod structure has flexible gait, high load capacity, weak rod relevance and higher control difficulty.
Disclosure of Invention
The invention aims to provide a reconfigurable parallel-closed chain connecting rod legged robot, wherein a single-leg structure of the reconfigurable parallel-closed chain connecting rod legged robot can be used for a closed chain mechanism, is simple to control, has high load capacity and various gaits, and can also be used for a parallel mechanism.
Therefore, the invention provides a reconfigurable parallel-closed chain connecting rod legged robot, which comprises a rack and four single-leg structures arranged at the front, the rear, the left and the right of the rack, wherein each single-leg structure comprises a first power arm, a second power arm, an upper rocker, a lower rocker, three rods connected with the rack, a rack connecting rod, a tail end connecting rod and a landing leg, the first power arm and the second power arm are coaxially arranged, the axial position of the first power arm and the second power arm is a point B, the hinging position of the rack connecting rod and the rack connecting rod for connecting the three rods is a point A, a hinging point A and a hinging point B are both connected with the rack, the positions of the first power arm, the lower rocker and the rack connecting rod are fixed, the first power arm, the lower rocker and the rack connecting rod are sequentially hinged to form a first crank rocker mechanism ABCE, the hinging position of the first power arm and the lower rocker is a point C, and the hinging position of the lower, the second power arm, the upper rocker and the frame are sequentially hinged to form a second crank rocker mechanism ABC 'D, the hinged position of the upper rocker and the second rocker is a point C', the hinged position of the upper rocker and the frame are connected to the three rockers is a point D, the landing leg and the lower rocker are hinged to a point E, one end of the tail end connecting rod is hinged to the frame through the three rockers at a point F, the other end of the tail end connecting rod is hinged to the landing leg at a point H, and a parallel four-bar mechanism AEHF is formed.
Further, the single-leg structure is a single-degree-of-freedom closed chain mechanism, wherein the single-leg structure further comprises a driving motor for driving the first power arm and the second power arm to rotate at a constant speed.
Further, the landing leg has a plurality of tail end track shapes, wherein the included angle between the first power arm and the second power arm is adjustable, and the tail end track shape of the landing leg is uniquely determined by the included angle between the first power arm and the second power arm.
Further, the first power arm and the second power arm are replaced by one power arm.
Further, the gait of the robot includes a jogging gait and a jogging gait.
Furthermore, the single-leg structure further comprises a first servo motor for driving the first power arm to rotate and a second servo motor for driving the second power arm to rotate, wherein the motion parameters of the first servo motor and the second servo motor are independently controlled.
Furthermore, the single-leg structure is switched between the single-freedom-degree closed chain mechanism and the double-freedom-degree parallel mechanism by selecting respective motion parameters of the servo motors.
Further, the gait of the robot includes a jogging gait, and a bouncing gait.
Furthermore, the front and the rear single-leg structures on the same side of the rack are arranged in a splayed manner.
Furthermore, the single-leg structure comprises a single-leg fixing plate, and the single-leg fixing plate is fixedly connected with the rack.
Further, the reconfigurable parallel-closed chain link legged robot further comprises parallel links arranged in a parallel four-bar mechanism AEHF to improve the rigidity of the mechanism.
According to the legged robot, the double driving arms can be driven by the same motor, and the double driving arms can generate various tail end tracks when given a certain angle and rotate at a constant speed, so that closed chain gaits are enriched, and the legged robot has the characteristics of strong bearing capacity of a closed chain mechanism and simplicity in control.
According to the legged robot, when the double-power arm is driven by the two servo motors, the conversion between the single-freedom-degree closed chain mechanism and the double-freedom-degree parallel mechanism can be realized by selecting the respective motion parameters of the servo motors, and the legged robot has the advantages of multiple gaits and flexible motion of the parallel mechanism and the open chain mechanism.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
figure 1 shows a schematic diagram of a reconfigurable parallel-closed chain link legged robot according to the present invention;
FIG. 2 shows a working mechanism schematic of a single leg structure of a reconfigurable parallel-closed chain link legged robot according to the present invention;
FIG. 3 shows a schematic diagram of a single-leg structure of a reconfigurable parallel-closed chain link legged robot according to the present invention constituting a single degree of freedom closed chain mechanism;
figure 4 shows a schematic diagram of a reconfigurable parallel-closed chain link legged robot's single leg structure constituting a two degree of freedom parallel mechanism according to the present invention;
FIG. 5 shows a closed chain mechanism end trajectory diagram of a single leg configuration of a reconfigurable parallel-closed chain link legged robot according to the present invention;
fig. 6 a-6 c illustrate three phases of a reconfigurable parallel-closed chain link legged robot in a slow walking gait according to the present invention, wherein fig. 6a illustrates an initial phase transition to an upright state, fig. 6b illustrates a walk gait preparation phase, and fig. 6c illustrates a walk gait walking phase;
FIG. 7 illustrates a simulation state diagram of a reconfigurable parallel-closed chain link legged robot in an intermittent diagonal sprint gait according to the present invention;
FIG. 8 shows closed chain end trajectories generated by a reconfigurable parallel-closed chain link legged robot according to the present invention given different angles of the dual-powered arm and both rotating at a constant speed;
figure 9a shows a state diagram of the motion of the bipower arm of the reconfigurable parallel-closed chain link legged robot according to the present invention at an angle of 0 °;
figure 9b shows a state diagram of the dual powered arm of the reconfigurable parallel-closed chain link legged robot according to the present invention at an angle of 60 °;
figure 9c shows a state diagram of the dual powered arm of the reconfigurable parallel-closed chain link legged robot according to the present invention at a 90 ° angle;
10 a-10 d show four end trajectory diagrams of a reconfigurable parallel-closed chain link legged robot under two-DOF parallel mechanism operating conditions in accordance with the present invention;
FIG. 11 shows a terminal trajectory diagram of a reconfigurable parallel-closed chain link legged robot in a bouncing gait in accordance with the present invention; and
fig. 12a and 12b are end trace diagrams of a reconfigurable parallel-closed chain connecting rod legged robot in a bouncing step state in a single-leg structure when two motors are respectively driven according to the invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the four-legged robot according to the present invention includes a frame 200 and four single-legged structures 100 arranged at front, rear, left, and right positions of the frame, wherein each single-legged structure 100 is provided with a single-legged fixing plate 10, and the single-legged fixing plate 10 is fixedly connected to the frame 200.
As shown in fig. 2, the robot single-leg structure mainly consists of the following rods: the device comprises a first power arm 1, a second power arm 2, an upper rocker 3, a lower rocker 4, a frame connecting three rods 5, a frame connecting rod 6, a tail end connecting rod 7, a parallel connecting rod 9 and landing legs 8.
The first power arm 1, the lower rocker 4 and the rack connecting rod 6 form a first crank rocker mechanism, and the second power arm 2, the upper rocker 3 and the rack are connected with three rods 5 to form a second crank rocker mechanism. Wherein one end of the frame connecting rod 6 is hinged with the three frame connecting rods 5, and the position is marked as A point. Both the first power arm 1 and the second power arm 2 have the same rotation axis center, and this position is denoted as point B. The point A and the point B are fixed position points and are connected with the frame.
The first power arm 1 is hinged to the lower rocker 4, in this position denoted C, and the second power arm 2 is hinged to the upper rocker 3, in this position denoted C'.
One end of the end connecting rod 7 is hinged with the end of the frame connected with the three rods 5, the position is marked as F point, the other end of the end connecting rod 7 is hinged with the landing leg 8, and the position is marked as H point. One end of the landing leg 8 is hinged to the lower rocker 4, and this position is denoted as point E. The other landing end of the landing leg 8 is denoted as point G.
The lengths of the corresponding rods of the first crank and rocker mechanism ABCE and the second crank and rocker mechanism ABCD are the same, i.e., BC, C', D, CE, AD, AE.
The overall design idea of the invention adopts a symmetrical method, the motion generation mechanism adopts crank rocker mechanisms ABCD and ABCE which are symmetrical up and down, and the track synthesis mechanism synthesizes the tracks of the F point and the E point by using a parallel four-bar mechanism AEHF, so that the tail end of a single leg moves according to a fixed track.
Fig. 3 is a schematic diagram showing the number of closed-chain single-degree-of-freedom levers (closed-chain mechanism) formed by the robot single-leg structure.
The first power arm and the second power arm synchronously rotate at a constant speed.
Fig. 4 shows a schematic diagram of the robot single-leg structure to form the parallel two-degree-of-freedom rod number. The first power arm and the second power arm are driven to rotate by different motors respectively.
First embodiment
Fig. 5 shows a closed chain mechanism end trajectory diagram of a closed chain single degree of freedom rod count robot single leg structure. The gait vertex is set as the initial state of the mechanism, and the mechanism is transited from the initial state to other gait initial states. As can be seen from the upper graph, the tail end track of the support is smooth in stepping, continuous in landing place, stable in support phase and highly symmetrical.
Under the state of a closed chain and single degree of freedom rod number, the robot can realize a slow walking gait (also called walk gait) and an intermittent sprint gait.
The slow walking gait means that three legs of the four-legged robot are in a supporting phase and one leg is in a swinging phase at any time in the walking process, the four legs are in the swinging phase and the supporting phase in sequence, the leg dead time is the same, and the phase difference between every two legs is 1/4 periods.
The walk gait of the robot is divided into three stages, namely, a first stage, as shown in fig. 6a, and an initial stage is converted into an upright state; stage two, shown in fig. 6b, the walk gait preparation stage; stage three, shown in fig. 6c, the walk gait walking stage.
Figure 7 shows a state diagram of the robot's motion in an intermittent diagonal sprint gait. The intermittent sprint gait takes the sprint gait with the duty ratio of 0.5 as the reference, takes the gait with the larger duty ratio of 0.5-1, the relative phase of each foot is completely the same as the sprint gait, only the gait with the changed duty ratio, namely the gait with the two feet on the diagonal always lifted up simultaneously and the duty ratio corresponding to the time of falling foot and the time of walking foot is shortened.
Fig. 8 shows various closed chain end trajectories generated under a given angular uniform rotation of the dual-power arm. Wherein fig. 9a shows the movement state of the single-leg structure of the dual-power arm at an included angle of 0 deg., fig. 9b shows the movement state of the single-leg structure of the dual-power arm at an included angle of 60 deg., and fig. 9c shows the movement state of the single-leg structure of the dual-power arm at an included angle of 90 deg.. It can be seen that the closed chain tail end tracks generated by the given double-power arm rotating at a constant speed at a certain angle are different, but have high symmetry, and the tail end tracks of 0 degree and 120 degrees are stable; the spatial set of all curves with larger step of the 60-degree and 90-degree end tracks is the motion range of the end tracks of the mechanism.
In a modified embodiment, the double power arms can be replaced by one power arm, and the connection relationship of other rods is not changed.
Second embodiment
Fig. 10a to 10d show four end trajectories of the robot under the working condition of the two-degree-of-freedom parallel mechanism, which are respectively a rectangle, an ellipse, an upper and lower straight line and a parallelogram.
The motion parameters of the dual-powered arm can be determined in a number of ways given the trajectory of the tip.
One method is to give the inverse kinematics solution of the tail end track calculation mechanism in the mechanism motion range to obtain the motion parameters of the two groups of power arms, and certainly, under the condition of giving the motion parameters of the two groups of power arms, the corresponding motion attitude can also be obtained by performing the forward kinematics solution operation.
Specifically, the one-to-one correspondence relationship between two angles alpha 1 and alpha 2 (included angles with a horizontal axis) of the two power arms and the coordinates xy of the foot end G is solved.
Given the x/y coordinates of foot end G, both values α 1 and α 2 can be uniquely determined, and simply replace x/y with the parametric equation x ═ F for time t1(t)，y＝F2(t), for example, x is t, y is sin t, the relation between α 1 and α 2 and the parameter t can be obtained, and the motion parameters of the two power arms can be controlled.
In the embodiment, the two power arms are respectively driven by closed-loop servo motors, and the alpha 1 and the alpha 2 are controlled according to an actually solved equation relative to the time t.
The other method is that a foot end track curve is known, a foot end track is decomposed into a plurality of points, the foot end is dragged to the points through simulation software, the angle of the power arm is measured, the angle-time relation of the power arm is planned, then a function with time as a parameter is synthesized, and finally the function is output to the two power arms.
As an application of the single leg structure of the two-degree-of-freedom parallel mechanism, the bouncing gait is realized, as shown in figure 11, a curve AB is given by a fixed point A of the gait in the motion range of the tail end of the parallel mechanism1And mirroring along the symmetry axis I of the trajectory curve to obtain AB2. And performing kinematic understanding on the AB1 curves and the AB2 curves to obtain the double-motor input parameters. And inputting the double-motor input parameters into motion simulation to obtain the tail end track parameters obtained by kinematics positive solution. Figures 12a and 12b show the tip trace plot for the next motor driven alone and the other motor driven alone for the bouncing gait shown in figure 11.
The single-leg structure has the characteristics of strong bearing capacity of the closed chain mechanism and simple control, and has the advantages of various gaits and flexible movement of the parallel mechanism and the open chain mechanism. In addition, when the main force bearing point is not near the power arm, the rigid impact on the motor can be effectively reduced, and the dependence on the motor torque is reduced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A reconfigurable parallel-closed chain connecting rod legged robot comprises a rack and four single-legged structures arranged at the front, the rear, the left and the right of the rack, and is characterized in that the single-legged structures comprise a first power arm, a second power arm, an upper rocker, a lower rocker, three connecting rods for connecting the rack, a connecting rod at the tail end and landing legs,
the first power arm and the second power arm are arranged coaxially, the position of the axis is a point B, the hinging position of the frame connecting rod and the frame connecting three rods is a point A, wherein the hinging point A and the hinging point B are both connected with the frame and are fixed,
the first power arm, the lower rocker and the rack connecting rod are sequentially hinged to form a first crank rocker mechanism ABCE, the hinged position of the first power arm and the lower rocker is a point C, the hinged position of the lower rocker and the rack connecting rod is a point E,
the second power arm, the upper rocker and the frame are sequentially hinged to form a second crank rocker mechanism ABC 'D, the hinged position of the upper rocker and the second rocker is a point C', the hinged position of the upper rocker and the frame is a point D,
the landing leg and the lower rocker are hinged at the point E, one end of the tail end connecting rod is connected with the rack and is hinged at the point F, the other end of the tail end connecting rod is hinged at the point H with the landing leg to form a parallel four-bar mechanism AEHF,
the first crank rocker mechanism ABCE and the second crank rocker mechanism ABC' D are arranged in an up-down symmetrical mode around an AB connecting line to form a motion generating mechanism, and the parallel four-bar mechanism AEHF is used for synthesizing the trajectories of the points F and E.
2. The reconfigurable parallel-closed chain connecting rod legged robot according to claim 1, wherein the single-leg structure is a single-degree-of-freedom closed chain mechanism, and further comprising a driving motor for driving the first power arm and the second power arm to rotate at a constant speed.
3. The reconfigurable parallel-closed chain link legged robot of claim 2, wherein the grounding leg has a plurality of distal trajectory shapes, wherein the included angle of the first and second power arms is adjustable, and wherein the distal trajectory shape of the grounding leg is uniquely determined by the included angle of the first and second power arms.
4. The reconfigurable parallel-closed chain link legged robot according to claim 3, wherein the gait of the robot includes a jogging gait and a jogging gait.
5. The reconfigurable parallel-closed chain link legged robot of claim 2, wherein the first and second powered arms are replaced by one powered arm.
6. The reconfigurable parallel-closed chain link legged robot of claim 1, wherein the single-legged structure further includes a first servo motor for driving the first power arm in rotation and a second servo motor for driving the second power arm in rotation, wherein the motion parameters of the first and second servo motors are independently controlled.
7. The reconfigurable parallel-closed chain link legged robot according to claim 6, wherein the single-leg configuration is switched between the single-degree-of-freedom closed chain mechanism and the two-degree-of-freedom parallel mechanism by selecting respective motion parameters of the servo motors.
8. The reconfigurable parallel-closed chain link legged robot of claim 6, wherein the gait of the robot includes a jogging gait, and a bouncing gait.
9. The reconfigurable parallel-closed chain link legged robot of claim 1, wherein the front and rear single-legged structures on the same side of the frame are in a splayed arrangement.
10. The reconfigurable parallel-closed chain link legged robot according to claim 1, further comprising parallel links provided in a parallelogram linkage AEHF to improve mechanism stiffness.
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| CN202110287566.7A CN113120113B (en) | 2021-03-17 | 2021-03-17 | Reconfigurable parallel-closed chain connecting rod leg type robot |
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| CN202110287566.7A CN113120113B (en) | 2021-03-17 | 2021-03-17 | Reconfigurable parallel-closed chain connecting rod leg type robot |
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| CN101767615A (en) * | 2010-03-12 | 2010-07-07 | 北京工业大学 | Leg bouncing mechanism for frog-type robot |
| CN203528632U (en) * | 2013-11-08 | 2014-04-09 | 李辉 | Eight-foot walking robot |
| CN204056037U (en) * | 2014-07-15 | 2014-12-31 | 昆明理工大学 | The full landform walking device of a kind of hybrid power |
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