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Joint torque determination method for four-footed wall-climbing robot with different postures

A technology for wall-climbing robots and determination methods, which is applied in attitude control, instruments, control/regulation systems, etc., and can solve the problems of large joint torque workload of quadruped wall-climbing robots

Active Publication Date: 2021-05-04
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In view of the situation of different attitudes of the robot on different walls, if the ADAMS simulation analysis method mentioned in this document is used, it is necessary to repeatedly build the simulation environment, adjust the attitude of the robot, and then import it into the ADAMS software for analysis to obtain the four-legged wall-climbing robot in different attitudes. greater workload of joint torque

Method used

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  • Joint torque determination method for four-footed wall-climbing robot with different postures
  • Joint torque determination method for four-footed wall-climbing robot with different postures
  • Joint torque determination method for four-footed wall-climbing robot with different postures

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Embodiment Construction

[0070] For ease of understanding, the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0071] A method for determining joint torques of a quadruped wall-climbing robot with different postures provided in this embodiment includes the following steps:

[0072] Step 1: When the robot is attached to multiple legs, use the adsorption pose to describe the status information of the robot's adsorption, which includes the joint angle of the robot, the posture of the middle waist, and the state of whether each leg is attached.

[0073] Specifically, this step includes:

[0074] Step 1.1: Consider the robot structure as an intermediate waist D 1 D. 2 D. 3 D. 4 and four-legged A i B i C i D. i f i (i=1,2,3,4) form, where F i 、D i 、C i are the joints 1, 2, and 3 of the i-th leg of the robot, and establish the torso world coordinate system O with the center of the middle waist as the origin bw ;

[0075] Step 1....

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Abstract

The invention discloses a joint torque determination method for a four-footed wall-climbing robot with different postures. The method comprises the steps that adsorption posture information of the robot is described by adopting an adsorption posture; the robot adsorption posture and the leg tail end position are determined; the gravity of the robot is processed in a centralized mode based on the force translation principle and a centroid formula, and an overall force spiral balance equation of the robot under any adsorption posture is established; a static flexibility model of the leg supporting chain sub-assembly is established by utilizing finite element analysis to obtain a leg static flexibility model under any adsorption posture and linear deformation of the leg tail end through linear transformation, then a constraint equation is obtained and foot end force is solved; after the foot end force is obtained, joint torques of the robots with different postures can be obtained through mechanical analysis. According to the method for determining the joint torque of the four-foot wall-climbing robot with different postures, the foot end force of the four feet of the robot can be rapidly obtained, the torque of each joint of the robot can be determined, the method can be used for joint motor model selection and checking, and the research and development process of the robot is further accelerated.

Description

technical field [0001] The invention belongs to the application field of robot technology, and in particular relates to a joint torque determination method of a quadruped wall-climbing robot with different postures. Background technique [0002] The joint torque of the robot is the basis for the selection and verification of the joint motor. After the foot force is determined, it can be determined through the conversion of basic mechanical knowledge. Therefore, in the stage of robot structure design and development, there are generally two ways to obtain foot force and joint torque: simulation analysis and analytical method. [0003] Simulation analysis refers to importing the three-dimensional model of the robot into the computer simulation software, driving the robot to move in the computer software and obtaining the corresponding foot force and joint torque data. Commonly used simulation analysis software includes ADAMS, Ansys, etc. Software simulation analysis is often ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 张铁吴凌峰
Owner SOUTH CHINA UNIV OF TECH
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