Control method of parallel bionic mobile robot with adjustable gravity center

Abstract

The invention discloses a control method of a parallel bionic mobile robot with an adjustable gravity center. The method comprises the following steps: firstly, installing the mobile robot, then establishing a gravity center solving model of the mobile robot, when the mobile robot moves on the flat ground, switching the mobile robot to a wheel type moving mode, only starting left and right SPR (Surface Plasmon Resonance) branch chains and UPva branch chains, keeping the SPS branch chains immovable, and keeping the axis of the UPva branch chains in the horizontal direction; when encountering an obstacle, switching the mobile robot to a foot type moving mode, independently controlling four wheels to be locked, starting the SPS branched chains at the same time, changing the axes of the UPva branched chains into the vertical direction, then measuring the gravity center in real time according to pose changes, enabling the wheels falling on the ground to form a supporting polygon, increasing the length of the reconfigurable parallel bionic trunk, and meanwhile, inclining the balancing weight towards the reverse direction of lifting the wheel, so that the gravity center projection point can be pulled back into a new supporting triangle. According to the scheme, four-foot biological gaits can be simulated, the gravity center can be adjusted in real time, the robot better adapts to the terrain, and the obstacle passing capacity is improved.

Description

technical field [0001] The invention belongs to the technical field of mechanisms and robotics, in particular to a control method of a parallel bionic mobile robot with an adjustable center of gravity. Background technique [0002] As a national strategy, intelligent mobile robots are playing an increasingly important role in national defense, military, aviation and other fields. Among the currently known mobile robots, wheeled mobile robots have the highest flexibility and mobility, but the disadvantages of ordinary wheeled robots are also obvious. Limited by the chassis constraints and wheel diameter constraints of wheeled robots, their non-structural The ability to pass through the terrain is poor, and the current solutions are various, such as increasing the number of wheels, using deformable wheels, and wheel-leg fusion. [0003] For example, a deformable crawler-type walking device disclosed in patent CN110304161B, by installing four deformable crawler wheels and an o...

AI Technical Summary

Problems solved by technology

Adopting this scheme sacrifices the advantage of strong flexibility of the wheeled robot, and at the same time makes the wheel part of the robot too complicated. When climbing over obstacles, it still needs to rely on methods such as expanding the wheel diameter to achieve the leap.

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