液压驱动缩放支链的并联式滚动机器人

Parallel Rolling Robot with Hydraulic Driven Expandable Chain

提出一种新型三自由度并联式滚动机器人。该机器人以大变形、强力输出、快速响应和运动灵活为目标,构型上采用提出的新型并联机构为本体以保证机构整体刚度,设计上应用平面缩放支链作为伸缩比放大机构以获得大变形能力,驱动上利用液压执行元件作为伸缩驱动输入以增强滚动机器人运动的灵活性与力量输出。其翻滚运动是通过合理规划与控制机器人质心与支撑区域之间关系而实现。对该机器人构型进行描述,并规划其翻滚运动步态,给出最优运动规则;基于此运动规则建立其运动学模型,并以算例验证了模型正确性;结合运动过程步态规划进行两个翻滚周期运动可行性的理论分析;搭建一套试验系统平台,包括液压系统与试验样机系统,开展四个滚动步态试验;样机试验结果表明了试验样机系统是可靠的且具备快速响应能力,验证了翻滚运动理论分析的正确性以及翻滚运动过程的可行性。

A novel three degrees of freedom（DOF） parallel rolling robot is proposed. The main consideration for proposing the robot aims at acquiring large deformation capability,powerful strength output,rapid response and flexible locomotion. The robot adopts the parallel mechanism as its architecture to guarantee the stiffness of the robot. The large deformation capability is obtained by taking advantage of the planar expandable mechanism as the extension ratio enlarging mechanism. The usage of the hydraulic actuation as the telescopic input increases the locomotion flexibility and the strength output of the robot. The robot rolls by properly planning and controlling the relations between the center of mass（CM） of the robot and the supporting region. The mechanical construction and configuration of the robot is described,the rolling gaits are planned,and the optimal locomotion rule is given. Based on the rule,the kinematic model of the robot is built. The correctness of the kinematic model is verified by the given numerical example. The locomotion feasibility of the two locomotion periods is analysed. A set of experimental system including the hydraulic system and robotic system is built. Four rolling experiments are carried out accordingly. The experimental results demonstrate that the experimental system is reliable and possesses the rapid response capability,and verify that the validity and feasibility of the theoretical analysis and the rolling locomotion.