金属矿山井下采场六足机器人运动分析及步态规划

Motion Analysis and Gait Planning of Hexapod Robot in Underground Stope of Metal Mine

六足机器人因其结构特殊带来的良好越障能力成为仿生机器人研究的热点,然而,金属矿山井下采场矿石堆积、崎岖不平的特点,给这类机器人的行走稳定性、越障性带来更多的挑战。因此,为使六足机器人在井下具有更好的通过性,对其运动能力和步态规划进行了相关研究。首先仿照自然界六足生物,设计六足机器人结构,对其腿部进行运动学分析;然后规划了用于采场的直行步态,结合采场路面环境设计了一种直线—摆线复合轨迹提升越障性,同时分析了机器人爬坡稳定性,对爬坡步态进行了优选;最后对规划步态进行仿真和现场模拟试验。仿真和试验结果表明,所规划的足端轨迹能跨越抬腿高度85%的障碍物,并且对矿石堆积形成的采场路面有更好的避障能力;三角步态爬坡时在坡底和坡顶过渡阶段容易打滑,而横向步态可以实现平滑的过渡,爬坡性能更佳。

The special structural design of hexapod robots has sparked interest in biomimetic robotics research,particu-larly due to their remarkable obstacle-crossing capabilities.However,the ore accumulation and rugged characteristics of the metal mine underground stope poses significant challenges to the walking stability and obstacle avoidance of this kind of robot.Therefore,in order to make the hexapod robot have better passability in the mine,its motion ability and gait planning are stud-ied.Firstly,the structure of hexapod robot is designed according to the nature hexapod,and the kinematics of its legs is ana-lyzed.Then,the straight gait for stope is planned,and a line-cycloid composite trajectory is designed to improve the obstacle crossing ability according to the stope road environment.At the same time,the stability of robot climbing is analyzed,and the climbing gait is optimized.Finally,the simulation and field simulation tests of the planning gait were carried out.The simulation and test results show that the planned foot trajectory can cross the obstacles with 85%of the leg height,and has better obstacle avoidance ability for the stope road formed by ore accumulation.Triangular gait is easy to slip in the transition stage between the bottom and the top of the slope,while lateral gait can achieve a smooth transition and better climbing performance.