A robot ground verification platform and a robot vibration simulation method

Abstract

The application relates to the technical field of robot simulation, in particular to a robot ground verification platform and a robot vibration simulation method. The robot ground verification platform is used for verifying the vibration response of a space robot walking on a flexible structure and performing gait planning, and comprises a platform main body, a flexible structure beam, a fixed base, an electromagnet, an acceleration sensor, a simulated floating wheel and a robot. The flexible structure beam is arranged on the platform main body through the fixed base. The acceleration sensor and the electromagnet are arranged on the flexible structure beam. The robot moves on the platform main body through the simulated floating wheel. The robot vibration simulation method is that the robot moves on the flexible structure beam through the on-off state of the electromagnet, and the vibration of the flexible structure beam is detected through the acceleration sensor. The application can simulate the action of the robot in a space state, can monitor the vibration of the flexible structure beam in real time, so that the vibration parameters of the robot can be obtained, and the application of the experiment is facilitated.

Description

Technical Field

[0001] This invention relates to the field of robot simulation technology, and more specifically, to a robot ground verification platform and a robot vibration simulation method. Background Technology

[0002] Currently, research on the vibration response of space robots walking on flexible structures is of great significance for future space missions and aerospace engineering. However, existing verification platforms have many limitations in terms of experimental environment and data collection.

[0003] Currently, there are some studies on vibration response verification and gait planning for space robots walking on flexible structures. These existing technologies mainly focus on the following aspects:

[0004] 1) Experimental platform;

[0005] 2) Vibration measurement technology;

[0006] 3) Gait planning algorithm.

[0007] Existing experimental platforms have certain limitations in simulating flexible structures, measuring vibrations, and planning gait. For example, they cannot realistically simulate the characteristics of flexible structures in a space environment, resulting in low reliability of experimental results; they also lack real-time vibration measurement capabilities, making it impossible to monitor the vibrations generated during robot walking in real time. Summary of the Invention

[0008] The purpose of this invention is to provide a ground verification platform and a robot vibration simulation method that can realistically simulate the space environment and measure vibration in real time.

[0009] The embodiments of the present invention are implemented as follows:

[0010] In a first aspect, the present invention provides a robot ground verification platform for verifying the vibration response of a space robot walking on a flexible structure and performing gait planning, comprising a platform body, a flexible structural beam, a fixed base, an electromagnet, an accelerometer, a simulated floating wheel, and a robot;

[0011] The flexible structural beam is mounted on the platform body via the fixed base;

[0012] Both the accelerometer and the electromagnet are mounted on the flexible structural beam.

[0013] The robot is mounted on the platform body via the simulated floating wheel.

[0014] In an optional embodiment, there are multiple electromagnets arranged in a straight line on the flexible structural beam.

[0015] In an optional embodiment, the spacing between adjacent electromagnets is the same.

[0016] In an optional implementation, the simulated floating wheel includes a wheel frame and omnidirectional wheels;

[0017] The number of casters is three or more;

[0018] The omnidirectional wheels are connected to the robot via the wheel frame.

[0019] In an optional implementation, the number of simulated floating wheels is three or more.

[0020] In an optional embodiment, one end of the flexible structural beam is fixedly connected to the fixed base.

[0021] In an optional implementation, the accelerometer and the electromagnet are arranged in a one-to-one correspondence.

[0022] Secondly, the present invention provides a robot vibration simulation method, which uses the on / off state of an electromagnet to make the robot move on a flexible structural beam, and uses an accelerometer to detect the vibration of the flexible structural beam.

[0023] In an optional implementation, the maximum number of electromagnets energized at any given time is two.

[0024] In an optional implementation, the electromagnets that are energized simultaneously are two adjacent electromagnets or two electromagnets spaced apart.

[0025] The beneficial effects of the embodiments of the present invention are:

[0026] By simulating a floating wheel, the robot is placed on the main body of the platform, enabling it to simulate the robot's movements in space. Electromagnets are placed on the flexible structural beam, and the robot's posture on the flexible structural beam is changed by changing the on and off state of the electromagnets. Then, the vibration of the flexible structural beam is monitored in real time by an accelerometer, thereby obtaining the robot's vibration parameters for experimental applications. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of the robot ground verification platform provided in an embodiment of the present invention;

[0029] Figure 2 A three-dimensional structural diagram of the simulated floating wheel of the robot ground verification platform provided in an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the peristaltic gait of a robot provided in an embodiment of the present invention.

[0031] Icons: 1-Platform body; 2-Fixed base; 3-Flexible structural beam; 4-Robot; 5-Electromagnet; 6-Floating wheel; 7-Acceleration sensor; 8-Wheel frame; 9-Universal wheel; 10-First branch; 11-Second branch; 12-Third branch. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0037] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0039] In a first aspect, the present invention provides a robot ground verification platform for verifying the vibration response and gait planning of a space robot 4 walking on a flexible structure, comprising a platform body 1, a flexible structural beam 3, a fixed base 2, an electromagnet 5, an accelerometer 7, a simulated floating wheel 6, and a robot 4; the flexible structural beam 3 is mounted on the platform body 1 via the fixed base 2; the accelerometer 7 and the electromagnet 5 are both mounted on the flexible structural beam 3; the robot 4 is mounted on the platform body 1 via the simulated floating wheel 6.

[0040] In this embodiment, the robot 4 has multiple legs, each of which is equipped with an iron block or a magnet, which can cooperate with the electromagnet 5 to attract the leg to the electromagnet 5.

[0041] When robot 4 is placed on platform body 1 via simulated floating wheel 6, robot 4 is placed in a flat position, and simulated floating wheel 6 simulates the weightless state in space.

[0042] When the electromagnet 5 is energized, it attracts the robot 4. Under the action of magnetic attraction, the robot 4 impacts the flexible structural beam 3. At this time, the acceleration sensor 7 detects the acceleration of the flexible structural beam 3 during the impact, thereby obtaining the vibration parameters of the robot 4 impacting the flexible structural beam 3.

[0043] When electromagnet 5 is de-energized, there is no magnetic attraction between robot 4 and electromagnet 5, allowing robot 4 to leave the flexible structural beam 3 and continue walking. The movement of robot 4 can be controlled by timing signals of the angles of its joints.

[0044] In this embodiment, the flexible structural beam 3 is used to simulate the wingspan structure on a space station, such as solar panels. The impact of the robot 4 on the flexible structural beam 3 is equivalent to the impact of the robot 4 on the wingspan structure when it walks outside the space station.

[0045] In an optional embodiment, there are multiple electromagnets 5, and the multiple electromagnets 5 are arranged in a straight line on the flexible structural beam 3.

[0046] In this embodiment, the number of electromagnets 5 is set to multiple, which can simulate the continuous vibration of the flexible structural beam 3 of the robot 4 during the walking process, thereby obtaining more effective and accurate data.

[0047] In an optional embodiment, the spacing between adjacent electromagnets 5 is the same.

[0048] In this embodiment, the spacing between adjacent electromagnets 5 is set according to the position of the legs of robot 4.

[0049] Specifically, in this embodiment, the included angle between adjacent legs of robot 4 is the same, and the spacing between the matching electromagnets 5 is the same.

[0050] In an optional implementation, the simulated floating wheel 6 includes a wheel frame 8 and omnidirectional wheels 9; the number of omnidirectional wheels 9 is three or more; the omnidirectional wheels 9 are connected to the robot 4 through the wheel frame 8.

[0051] In this embodiment, the upper end of the wheel frame 8 is connected to the legs of the robot 4, and the lower end is connected to multiple omnidirectional wheels 9. The omnidirectional wheels 9 support the wheel frame 8, thereby achieving the purpose of supporting the robot 4.

[0052] In this embodiment, the number of omnidirectional wheels 9 is set to three or more, which can ensure the balance of the wheel frame 8 when supporting the robot 4.

[0053] In an optional implementation, the number of simulated floating wheels 6 is three or more.

[0054] In this embodiment, each support leg is equipped with a simulated floating wheel 6, which improves the balance between the robot 4 and the platform body 1 and reduces friction, thereby ensuring that the robot 4 can accurately simulate spatial characteristics.

[0055] In an optional embodiment, one end of the flexible structural beam 3 is fixedly connected to the fixed base 2.

[0056] In this embodiment, one end of the flexible structural beam 3 is fixedly connected to the fixed base 2, and the other end is suspended in the air, that is, the flexible structural beam 3 is cantilevered.

[0057] This setup allows for a better simulation of wing structure in space, thus ensuring the accuracy of the simulated parameters.

[0058] In this embodiment, the flexible structural beam 3 is fixed to the fixed base 2 by bolts.

[0059] Specifically, multiple through holes are provided on the flexible structural beam 3, and corresponding sets of through holes are also provided on the fixed base 2. After the bolt passes through the through holes on the fixed base 2 and the flexible structural beam 3, it is fixed by nuts, thereby achieving the purpose of fixing the flexible structural beam 3 on the fixed base 2.

[0060] It should be noted that the flexible structural beam 3 can be fixed on the fixed base 2 by bolts, but it is not limited to bolt fixing. Other fixing connection methods are also possible, as long as they can achieve the goal of fixing the flexible structural beam 3 on the fixed base 2.

[0061] Similarly, in this embodiment, the fixed base 2 is fixedly mounted on the platform body 1 by bolts.

[0062] It should be noted that the fixed base 2 can also be fixedly installed on the platform body 1 through other fixed connection methods.

[0063] In an optional embodiment, the accelerometer 7 is configured in a one-to-one correspondence with the electromagnet 5.

[0064] In this embodiment, the number of acceleration sensors 7 is set to multiple, with one acceleration sensor 7 corresponding to each electromagnet 5, which can better detect the real-time vibration state of the flexible structure beam 3 and ensure the accuracy of the detection data.

[0065] In this embodiment, the platform body 1 is an optical platform with a small surface roughness, which reduces the resistance to the simulated floating wheel 6 and makes it easier for the robot 4 to simulate spatial states.

[0066] Secondly, the present invention provides a robot vibration simulation method, in which the robot 4 is moved on a flexible structural beam 3 by means of the on / off state of the electromagnet 5, and the vibration of the flexible structural beam 3 is detected by means of the acceleration sensor 7.

[0067] In an optional implementation, the maximum number of electromagnets 5 energized at any given time is two.

[0068] In this embodiment, the electromagnet 5 is fixedly mounted on the flexible structural beam 3, and multiple electromagnets 5 are turned on and off in sequence, enabling the robot 4 to walk on the flexible structural beam 3.

[0069] Specifically, in this embodiment, during the walking process of robot 4, when the electromagnets 5 corresponding to the two branches of robot 4 are both energized, robot 4 is in a standing state; when the electromagnet 5 corresponding to the first branch 10 of robot 4 is de-energized, the electromagnet 5 corresponding to the third branch 12 of robot 4 is energized, the third branch 12 of electromagnet 5 is attracted by electromagnet 5, and robot 4 rolls under the action of simulated floating wheel 6. At this time, the second branch 11 and the third branch 12 of robot 4 are attracted by electromagnet 5, and so on, forming the walking of robot 4 on flexible structural beam 3.

[0070] In this embodiment, the electromagnet 5 is fixedly mounted on the flexible structural beam 3, enabling the robot 4 to rotate and walk normally.

[0071] In this embodiment, the electromagnet 5 can also be slidably set on the flexible structural beam 3. By using the slidably set electromagnet 5, the distance between the first branch 10 and the second branch 11 on the robot 4 can be changed, thereby changing the posture of the robot 4 and simulating a more realistic state of the robot 4.

[0072] Specifically, the robot's walking state is as follows: Figure 3 As shown:

[0073] The ends of both the first branch 10 and the second branch 11 are fixed to the structure, and robot 4 is in state 1:

[0074] The end of the second branch 11 is released, joints 2, 3, 4, and 5 move in coordination, and robot 4 is in state 2;

[0075] The end of the second branch 11 is fixed to the structure, the distance between the ends of the first branch 10 and the second branch 11 changes, and the robot 4 is in state 3;

[0076] The end of the first branch 10 is released, joints 2, 3, 4, and 5 move in coordination, and robot 4 is in state 4;

[0077] The end of the first branch 10 is fixed to the structure, and robot 4 returns to state 1;

[0078] In an optional embodiment, the electromagnets 5 that are energized simultaneously are two adjacent pieces or two pieces spaced apart.

[0079] As can be seen from the above, the present invention has the following innovative features compared to the prior art:

[0080] 1) Realistic simulation platform: The ground verification platform of this invention can accurately simulate the characteristics of flexible structures in the space environment, providing a more realistic and reliable experimental environment and ensuring the credibility of research results.

[0081] 2) Real-time vibration measurement: The present invention equips the platform and robot 4 with high-precision vibration sensors, namely acceleration sensors 7, to measure the vibration response of the flexible structure and the vibration data of the robot 4 in real time, so as to realize real-time continuous monitoring.

[0082] 3) Intelligent gait optimization: This invention introduces a gait optimization algorithm specifically for robot 4 walking on flexible structures, such as the algorithm disclosed in the invention patent application number 202211208016.2. The algorithm optimizes the gait planning of robot 4 based on real-time vibration data, minimizes vibration interference to the flexible structure, and improves the walking efficiency and stability of robot 4.

[0083] The beneficial effects of the embodiments of the present invention are:

[0084] The robot 4 is mounted on the platform body 1 using a simulated floating wheel 6, which allows it to simulate the robot 4's movements in space. An electromagnet 5 is mounted on the flexible structural beam 3, and the robot 4's posture on the flexible structural beam 3 is changed by altering the on / off state of the electromagnet 5. The vibration of the flexible structural beam 3 is then monitored in real time using an accelerometer 7, thereby obtaining the vibration parameters of the robot 4 for experimental applications.

[0085] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robotic ground verification platform for verifying the vibrational response of a space robot walking on a flexible structure and for gait planning, characterized in that, The platform body, the flexible structure beam, the fixed base, the electromagnet, the acceleration sensor, the simulated floating wheel and the robot are included. The flexible structure beam is arranged on the platform body through the fixed base. The acceleration sensor and the electromagnet are arranged on the flexible structure beam. The robot is arranged on the platform body through the simulated floating wheel. The robot has a plurality of supporting legs, each of which is provided with an iron block or a magnet and can be adsorbed on the electromagnet through cooperation with the electromagnet.

2. The robotic ground verification platform of claim 1, wherein, The number of the electromagnets is multiple, and the multiple electromagnets are arranged in a straight line on the flexible structure beam.

3. The robotic ground verification platform of claim 2, wherein, The adjacent electromagnets have the same spacing.

4. The robotic ground verification platform of claim 1, wherein, The simulated floating wheel includes a wheel frame and universal wheels. The number of the universal wheels is more than three. The universal wheels are connected to the robot through the wheel frame.

5. The robotic ground verification platform of claim 1, wherein, The number of the simulated floating wheels is more than three.

6. The robotic ground verification platform of claim 1, wherein, One end of the flexible structure beam is fixedly connected to the fixed base.

7. The robotic ground verification platform of claim 1, wherein, The acceleration sensor and the electromagnet are arranged one by one.

8. A method of robot vibration simulation based on the robot floor verification platform of any of claims 1-7, characterized by, The robot moves on the flexible structure beam through the on-off state of the electromagnet, and the vibration of the flexible structure beam is detected through the acceleration sensor. When the electromagnet is powered on, the robot is adsorbed, and the robot generates impact on the flexible structure beam under the action of magnetic force, and the acceleration sensor detects the acceleration of the flexible structure beam at the time of impact, so as to obtain the vibration parameter when the robot impacts the flexible structure beam. When the electromagnet is powered off, the robot and the electromagnet do not have magnetic force, the robot leaves the flexible structure beam and continues to walk, and the robot walking process is realized through the robot joint angle time sequence signal control.

9. The robotic vibration simulation method of claim 8, wherein, In the same time period, the number of the electromagnets powered on is at most two.

10. The robotic vibration simulation method of claim 9, wherein, The electromagnets powered on at the same time are two adjacent electromagnets or two electromagnets arranged at intervals.

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