基于速度矢量的电动并联式轮足机器人全方位步态切换方法

Omnidirectional Gait Switching Method of Electric Parallel Wheel-foot Robot Based on Velocity Vector

搭建了电动并联式轮足机器人的运动学模型,在单腿工作空间约束和行走稳定性约束条件下完成了间歇步态和旋转步态的基本步态设计,保证机器人在大负重情况下的全方位稳定行走。分析了机器人运动速度矢量与不同基本步态之间的对应关系。提出了基于速度矢量的电动并联式轮足机器人全方位步态切换方法,分析了步态切换的最佳时机,详细介绍了不同种步态之间的步态切换过程。通过虚拟样机和物理样机试验平台对本步态切换方法进行仿真分析和试验验证。仿真与试验的结果表明,电动并联式轮足机器人在基本步态行走和步态切换过程中,稳定裕度始终不小于零,且机器人机身的横滚角和俯仰角分别在–1.5°～4°和–2.8°～2.5°范围内变化,该方法能够保证电动并联式轮足机器人稳定的完成步态切换。

The kinematic model of the electric parallel-type wheel-foot robot is built.Under the constraint of single-leg working space and the stability of walking,the basic gait design of intermittent gait and rotation gait is completed to ensure that the robot in a large load condition can walk steadily.The correspondence between the rotation center position of the robot velocity vector and the different basic gait is analyzed.The omnidirectional gait switching method of electric parallel wheel-foot robot based on velocity vector is proposed.The optimal timing of gait mode switching is analyzed,and the gait switching process between different gaits is introduced in detail.The simulation and experimental verification of the gait transition method are carried out by virtual prototyping and physical prototyping platform.The results of simulation and experiment show that the stability margin of the electric parallel wheel-foot robot is not less than zero in the basic gait walking and gait switching process,and the roll angle and pitch angle of the robot body are–1.5°-4°and–2.8°-2.5°range,the method can ensure the robot to complete the gait switch stably.