基于力控的助力双轮拖车载荷

Two-wheeled Power-assist Trailer Payload Based on Force Control

为拓展四足仿生机器人的运输能力,提出一种助力双轮拖车载荷构型,自带动力并由四足仿生机器人牵引,从而获得更大的运输能力,同时兼顾整体的灵活机动能力,具备一定的越野能力。通过分析其运动学和动力学特点,建立双轮拖车载荷的动力学仿真模型,提出基于力控的助力控制算法,并以此为依据设计双轮拖车载荷实物样机,在该样机上对算法进行验证。实验结果表明,助力双轮拖车载荷可以在满载的情况下较好地响应四足仿生机器人的运动状态,并具有一定的越野能力,极大地拓展了四足仿生机器人的运输能力。

A configuration of a two-wheeled power-assist trailer payload,which is towed by a quadruped bionic robot,is proposed to enhance the transportation capacity of quadruped bionic robots.This design enables increased transportation capacity while maintaining overall flexibility,maneuverability,and off-road capabilities.The kinematics and dynamics characteristics of the two-wheeled power-assist trailer payload is analyzed,a dynamic simulation model is developed,and a force-based assist control algorithm is proposed.A physical prototype of two-wheeled trailer payload is designed based on the proposed algorithm,and utilized for algorithm verification.The result shows that the two-wheeled power-assist trailer payload can effectively respond to the motion state of quadruped bionic robot under full load and exhibits significant off-road capability,thereby greatly expanding its transportation capacity.