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A crawling robot leg device and control suitable for slope roads

A crawling robot and leg technology, applied in the field of robotics, can solve the problems of the influence of leg movement coordination, lack of shock absorption mechanism, leg balance movement margin, poor balance ability, etc., to improve control accuracy and movement coordination , The effect of sufficient balance of motion margin and reduction of energy loss

Inactive Publication Date: 2021-06-01
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The geographical environment of our country is mostly mountains and hills with complex road surfaces. When crawling robots replace humans for rescue and exploration work, they often walk on sloped roads. In the prior art, crawling robots have poor balance when traveling on sloped roads. It is related to the mechanism design and motion coordination control of crawling robots
[0003] When the crawling robot travels on a slope, due to the impact of the ground, the fuselage will fluctuate with the uneven slope terrain, the fuselage is unbalanced, and the energy loss of the stepping motor is large. The crawling robot cannot pass the slope efficiently, and the leg mechanism Many of the designs are pure bionics, such as imitating the leg mechanisms of geckos, spiders, crocodiles, etc., lacking effective shock absorption mechanisms and insufficient leg balance movement margins
[0004] For the control system, when the crawling robot is traveling on a slope, the input of a certain joint of the leg will be affected by the output of other joints. At the same time, the output of this joint will also be affected by the input of other joints. The coupling phenomenon between the joints It has an impact on the movement coordination of the legs and reduces the balance ability of the crawling robot. Although the decoupling control can obtain satisfactory control effects, when it is affected by the comprehensive disturbance of friction and temperature changes, the actual trajectory of the legs Deviation from desired trajectory, inability to efficiently traverse slopes

Method used

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  • A crawling robot leg device and control suitable for slope roads
  • A crawling robot leg device and control suitable for slope roads
  • A crawling robot leg device and control suitable for slope roads

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0066] A crawling robot leg device suitable for slope roads, such as Figure 1-6 , Figure 10-13 As shown, it includes a hip joint 1, a knee joint 2, a leg mechanism 3, a foot device 4 and a control system 5; in the initial state, the hip joint 1 is connected to the knee joint 2 in a horizontal direction, and the knee joint 2 is connected to the leg mechanism 3 are connected at 90 degrees, the leg mechanism 3 is vertically connected with the foot device 4, and the control system 5 is placed on the hip joint 1;

[0067] The hip joint 1 includes a U-shaped support frame 1-1, a first stepper motor 1-2, a first metal disc 1-3, and a hip joint support frame 1-4; the first stepper motor 1-2 is connected with The hip support frame 1-4 is fixedly connected to the U-shaped support frame 1-1 through the first metal plate 1-3, and the first metal plate 1-3 is fixedly connected to the U-shaped support frame 1-1. The hip joint support frame 1-4 is rotationally connected with the U-shaped...

specific Embodiment approach 2

[0079] Such as figure 1 , Figure 7-9 As shown, on the basis of Embodiment 1, a crawling robot leg device suitable for slope road surfaces includes a hip joint 1, a knee joint 2, a leg mechanism 3, a foot device 4 and a control system 5, and the legs The internal mechanism 3 includes a shock absorbing mechanism 3-1 and a rotating mechanism 3-2, and the foot device 4 includes a three-dimensional force sensor 4-1 and a foot structure 4-2; the shock absorbing mechanism 3-1 includes a leg connection Plate 3-1A, shaft cylinder 3-1B, central shaft 3-1C, two round nuts 3-1D, spring preload block 3-1E, spring 3-1F; The first connecting plate 2-5 of the joint, the second connecting plate 2-6 of the knee joint and the shaft cylinder 3-1B are fixedly connected. 3-1D limit position, the central shaft 3-1C adopts a hollow structure, the spring preload block 3-1E is coaxially matched with the central shaft 3-1C, and the spring preload block 3-1E and the shaft cylinder 3-1B Cooperate with...

specific Embodiment approach 3

[0093] Such as Figure 14 , Figure 15 As shown, a control method of a crawling robot leg device suitable for slope road surfaces, when the right front leg is turned from the swing phase to the support phase, the right front leg lands, and the remaining three legs are in the support state as an example, including the following steps:

[0094] Step S1. When the crawling robot is traveling on a slope, the three-dimensional force sensor measures the contact force in the X, Y, and Z directions of the end of the leg;

[0095] Step S2, the main control chip takes the received contact force information as a reference and obtains the actual control position P of the leg end according to the slope θ p ;

[0096] Step S3, the main control chip controls the position P according to the actual leg end p Perform single-leg inverse kinematics to obtain the desired angle θ of the right front leg hip joint 11d , The desired angle θ of the knee joint of the right front leg 12d , θ 11d , θ...

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Abstract

A crawling robot leg device and control suitable for slope roads belong to the field of robotics; solves the problem of poor balance ability of crawling robots on slope roads in the prior art; includes hip joints, knee joints, leg mechanisms, and foot devices and a control system; the leg mechanism adopts double-row angular contact ball bearings, which increases a rotational degree of freedom and provides sufficient balance movement margin; the foot device adopts a three-dimensional force sensor, which can The position of the legs is adjusted according to the force condition, so that the fuselage is parallel to the slope and the center of gravity is kept stable; the control system adopts a force-based The feedback anti-jamming decoupling control uses the force at the end of the leg as the reference information of the input terminal of the anti-jamming decoupling control, which improves the control accuracy, motion balance of the leg and the walking efficiency of the crawling robot on the slope.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a leg device and control of a crawling robot suitable for slope road surfaces. Background technique [0002] The geographical environment of our country is mostly mountains and hills with complex road surfaces. When crawling robots replace humans for rescue and exploration work, they often walk on sloped roads. In the prior art, crawling robots have poor balance when traveling on sloped roads. It is related to the mechanism design and motion coordination control of crawling robots. [0003] When the crawling robot travels on a slope, due to the impact of the ground, the fuselage will fluctuate with the uneven slope terrain, the fuselage is unbalanced, and the energy loss of the stepping motor is large. The crawling robot cannot pass the slope efficiently, and the leg mechanism Many of the designs are pure bionics, such as simulating leg mechanisms such as geckos, spid...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 王鹏宋春宵翟士朋刘孟琦陈巨辉张元张鹏
Owner HARBIN UNIV OF SCI & TECH