A joint torque determination method for a quadruped wall-climbing robot with different attitudes

A technology for a wall-climbing robot and a determination method, which is applied in the directions of attitude control, instruments, control/regulation systems, etc., can solve the problem of large joint torque workload of a quadruped wall-climbing robot, achieves convenient solution and speed up the research and development process, Solve for the exact effect

Active Publication Date: 2022-03-29
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • A joint torque determination method for a quadruped wall-climbing robot with different attitudes
  • A joint torque determination method for a quadruped wall-climbing robot with different attitudes
  • A joint torque determination method for a quadruped wall-climbing robot with different attitudes

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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 state 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 1.2...

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Abstract

The invention discloses a method for determining the joint torque of a quadruped wall-climbing robot with different postures, which includes: using the adsorption posture to describe the posture information adsorbed by the robot; Centralized gravity processing, establishing the force spiral balance equation of the robot under any adsorption posture; using finite element analysis to establish the static compliance model of the leg branch chain subassembly, and obtaining the static compliance model of the leg under any adsorption posture and the end of the leg through linear transformation Then obtain the constraint equation and obtain the foot end force; after obtaining the foot end force, the joint torque of robots with different attitudes can be obtained through mechanical analysis. A method for determining the joint torque of a quadruped wall-climbing robot with different postures proposed by the present invention can quickly obtain the end force of the quadruped foot of the robot and determine the torque of each joint of the robot, which can be used for the selection and verification of joint motors, and further accelerates the development of robots process.

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 & AuthorityPatents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor张铁吴凌峰
OwnerSOUTH CHINA UNIV OF TECH