CN105128976A - Under-actuated running gear and turning control method thereof - Google Patents
Under-actuated running gear and turning control method thereof Download PDFInfo
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- CN105128976A CN105128976A CN201510430618.6A CN201510430618A CN105128976A CN 105128976 A CN105128976 A CN 105128976A CN 201510430618 A CN201510430618 A CN 201510430618A CN 105128976 A CN105128976 A CN 105128976A
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Abstract
The invention relates to an under-actuated running gear and a turning control method thereof. The running gear comprises legs formed by inner side legs and outer side legs, the inner side legs and the outer side legs are connected by a crankshaft. The inner side legs are rotatably arranged on an inner horizontal shaft. The two outer side legs are respectively rotatably arranged on outer horizontal shafts on two ends. An elevating hip joint is fixed on the left side or the right side of an upper body platform, and comprises a sliding block, a screw motor and a sliding rail. The center of the sliding block is provided with threads. A screw passes through the middle of the sliding block. The screw is connected with the screw motor which is fixed on the upper body platform. A fixed hip joint is fixed on the right side of the left side of the upper body platform. The upper body platform is provided with four supports. The two supports on the middle are supported on two ends of a middle shaft. The middle shaft rotatably passes through two supports on the inner side of the platform. Support short shaft rotatably pass through a support on the outer side of the platform. The screw motor is on the central lower position of two supports on the left or on the right, and is fixedly connected with the platform. The running gear is low in power consumption, simple in structure, and good in stability. The running gear realizes flexible turning through simple control.
Description
Technical field
The invention belongs to robotics, relate to a kind of drive lacking running gear and Servo Control method thereof.
Background technology
Walking, as anthropomorphic robot basic function, has important Research Significance.Tradition is walking manner initiatively, theoretical based on ZMP, and by accurately controlling joint angles, the apish walking of adjustment body posture, though be relatively easy to realize, paces are heavy, and energy consumption is excessive.With the state-of-the-art anthropomorphic robot that the Asimo of Japanese Honda is representative, walking energy expenditure rate exceeds 10 times of people, causes exhausting fast in cell number hour, seriously limits the important indicators such as work-hours, action radius, load capacity, service life.
Therefore, walking energy consumption is greatly the crucial problem of puzzlement robot research, fails for many years remarkable today broken through especially in capacity of cell.And the present invention designs super low energy consumption passive walking field, by the innovative design of passive walking structure and actv. master control set, realize drive lacking walking and turn to, effectively overcome traditional passive walking robot foot and wipe ground and turn to the problem of difficulty.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of drive lacking running gear and Servo Control method thereof, specifically comprise following technical scheme:
A kind of drive lacking running gear, comprise the leg be made up of two inner side legs and two outer legs, described inner side leg is connected by bent axle with outer legs, and described bent axle comprises one section of axis, two short supporting axles, transverse axis outside transverse axis and two ends in two sections, described inner side leg is rotating to be arranged on interior transverse axis, and described two outer legs are rotating to be respectively arranged on the outer transverse axis at two ends, described inside and outside leg is provided with the spacing ring that can slide thereon, described lifting hip joint is fixed on upper body platform sinistral or right side, and comprise slide block, screw rod motor and slide rail, described its center is threaded, and middle through screw rod, described screw rod is connected with the screw rod motor shaft be fixed on the platform of upper body, described fixing hip joint is fixed on upper body platform dextral or left side, comprises pair of parallel spacing ring, described upper body platform there are four supports, middle two stent support are at axis two ends, described axis to penetrate rotatably inside platform on two supports, described short supporting axle penetrates rotatably platform outboard support, described screw rod motor lays respectively at lower position in the middle of left side or right side two stands, be fixedly connected with platform, described motor is by belt and middle major axis synchronous rotary, described master control set comprises data acquisition unit, actuating device and master control set, the information of described master control set real-time processing data harvester, realize turning by actuating device regulable control turning device, and control the acceleration and deceleration that driving motor realizes walking, described turning structure is made up of screw rod motor and sliding joint, realizing walking device right-hand rotation or turning left, reducing sliding joint and realize walking device left-hand rotation or turn right by raising sliding joint, described power supply provides energy for device.
Further, the lower end of described leg is provided with the foot as part of contacting to earth, and described foot contacts with ground point and arranges.
Further, in described leg, outer legs is four identical straight legs of length, wherein, during walking, in inner side leg or outer legs with earth surface be supporting leg, leave ground for leading leg.
Further, described fixing hip joint is positioned at the mirror position of lifting hip joint, arranges rotatable slip pipe form by two.
Further, described lifting hip joint is made up of screw rod motor and slider bracket, described slider bracket is arranged on the platform right side or lower left and can slides up and down with screw rod rotation, it is the long ratio of the upper and lower leg of boundary that lifting hip joint can change with joint, upward sliding can reach minimum scale value 1:10, it is 1:8 that slide downward can reach maximum scale value, and when lifting slider height is consistent with fixing hip joint height, ratio value is 1:9; Slide block rises, and when ratio value is greater than 1:9, walking device is right or turn left; Slide block declines, and when ratio value is less than 1:9, walking device left or right turns; When slide block remains on the height of 1:9, walking device is kept straight on.
Present invention also offers a kind of Servo Control method of described drive lacking running gear, comprise forward-reverse control method and left-hand rotation right-hand rotation control method, forward-reverse control method comprises the following steps:
A) connect device, opening power, device starts;
B) motor cw (conter clockwise) rotates 10 °, and upper body center of gravity leans forward (hypsokinesis);
C) motor conter clockwise (cw) rotates, and being now in preaxial leg is supporting leg, and another is for leading leg;
D) information of master control set real-time processing data harvester, regulates the lifting position of hip joint and the rotating speed of driving motor by accessory drive, keeps walking device steadily to advance;
E) lead leg and reach angle on target, waiting for leads leg contacts to earth; When control system detects motor reverse impulse, determine now to lead leg and contact to earth, now system is led leg and is completed switching action with supporting leg;
F) repeat c), d) and e) process, complete and continue to move ahead or retreat.
Left-hand rotation right-hand rotation control method comprises the following steps:
A) walking device is in forward traveling;
B) lead leg when overlapping with supporting leg, master control set controls screw rod motor cw (conter clockwise) and rotates, slide block is made to rise (decline), the upper and lower leg ratio of joint is greater than 1:9 and is less than 1:8 (be less than 1:9 and be greater than 1:10), the inside and outside leg step pitch in left side is greater than (being less than) right side step pitch, lead leg after landing, on the left of walking device, displacement is greater than (being less than) right side, thus realizes turning right (left-hand rotation);
C) repeat b) process, make walking device continue to turn;
D) master control set controls screw rod motor and makes joint upper and lower leg ratio recovery 1:9, and walking device recovers forward traveling.
Beneficial effect of the present invention is: the design of drive lacking running gear provided by the invention and Servo Control method thereof, realize in walking process, receiving leg action by hip structure, leg is straight leg, be point contact type with the ground way of contact, reduce the complexity of structure, meanwhile, by changing one-sided step-length to realize turning.
Accompanying drawing explanation
In order to make object of the present invention, technical scheme and beneficial effect clearly, the invention provides following accompanying drawing and being described:
Fig. 1 is structural representation of the present invention;
Fig. 2 is bent axle physical construction schematic diagram;
Fig. 3 is fixing hip joint structural representation;
Fig. 4 is Servo Control schematic diagram;
Fig. 5 is overall schematic.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
Fig. 1 is structural representation of the present invention, Fig. 5 is overall schematic, as shown in the figure, device of the present invention comprises the leg of two inner side legs 9 and two outer legs 8 compositions, described inner side leg 9 is connected by bent axle 3 with outer legs 8, and described bent axle 3 to comprise in one section of axis, 31, two short supporting axles 34, two sections transverse axis 33 outside transverse axis 32 and two ends, described inner side leg 9 is rotating to be arranged on interior transverse axis 32, and described two outer legs 8 are rotating to be respectively arranged on the outer transverse axis 33 at two ends, described inside and outside leg is provided with the spacing ring (2,4) that can slide thereon, described lifting hip joint 4 is fixed on upper body platform sinistral (right side), comprise slide block 44, screw rod motor 42 and slide rail 41, described its center is threaded, and middle through screw rod 43, described screw rod 43 is connected with the screw rod motor shaft 42 be fixed on the platform of upper body, described fixing hip joint fixes 2 in upper body platform dextral (left side), comprises pair of parallel spacing ring, described upper body platform there are four supports 1, middle two stent support are at axis 34 two ends, described axis 31 to penetrate rotatably inside platform on two supports, described short supporting axle 34 penetrates rotatably platform outboard support, described screw rod motor 42 lays respectively at lower position in the middle of (right side) two stands of left side, be fixedly connected with platform, described motor 7 is by belt and middle major axis 31 synchronous rotary, described master control set 6 comprises data acquisition unit, actuating device and master control set, the information of described master control set real-time processing data harvester, realize turning by actuating device regulable control turning device, and control the acceleration and deceleration that driving motor 7 realizes walking, described power supply 5 provides energy for device, described turning structure, by being elevated hip joint and fixing hip joint is formed, realizes walking device turn right (left-hands rotation) by raising sliding joint, reduce sliding joint and realize walking device left-hand rotation (right-hand rotation).
Wherein, the lower end of described leg is provided with the step as part of contacting to earth, and described foot is four identical spheroids.The interior outer legs of described leg is the straight leg of identical length, wherein, during walking, in inner side leg or outer legs with earth surface be supporting leg, leave ground for leading leg.
Fig. 2 is bent axle physical construction schematic diagram, described bent axle 3, back-up block 1 and lifting joint 4 and spacing ring 45 form hip jointly, described hip is as the action support section of this running gear, and hip top realizes being connected with leg by bent axle 3, and bent axle is free to rotate; Hip bottom is made up of the left-right asymmetry lifting joint 4 that also can rotate freely along vertical support Block direction and spacing ring 45; Lifting joint can be elevated in controlled realization, regulates homonymy step-length thus realizes turning; Leg through hip spacing ring, and can freely up and down slide.Fig. 3 is fixing hip joint structural representation.
Described radius of crankshaft is r, and crankshaft rotation angle is α, and hip top barycenter quality is m, and hip bottom barycenter quality is M; Leading leg with supporting leg angle is φ, and described step-length is d.
Fig. 4 is Servo Control schematic diagram,
(retrogressing) mode that moves ahead of described walking device is divided into following step:
A) connect device, opening power, device starts;
B) motor cw (conter clockwise) rotates 10 ° (the horizontal α of explanation is 90 °), and upper body center of gravity leans forward (retrogressing);
C) motor conter clockwise (cw) rotates, and being now in preaxial leg is supporting leg, and another is for leading leg;
D) information of master control set real-time processing data harvester, regulates the lifting position of hip joint and the rotating speed of driving motor by accessory drive, keeps walking device steadily to advance;
E) lead leg and reach angle on target, waiting for leads leg contacts to earth; When control system detects motor reverse impulse, determine now to lead leg and contact to earth, now system is led leg and is completed switching action with supporting leg;
F) repeat c), d) and e) process, complete and continue move ahead (retrogressing).
Control its turn left (right-hand rotation) to comprise the following steps:
A) walking device is in forward traveling;
B) lead leg when overlapping with supporting leg, master control set controls screw rod motor cw (conter clockwise) and rotates, and makes spacing ring (Fig. 3) increase (decline), the upper and lower leg ratio l of joint
1with l
2be greater than 1:9 and be less than 1:8 (be less than 1:9 and be greater than 1:10), the inside and outside leg step pitch in left side is greater than (being less than) right side step pitch d, lead leg after landing, on the left of walking device, displacement is greater than (being less than) right side, thus realizes turning right (left-hand rotation);
C) repeat b) process, make walking device continue to turn;
D) master control set controls screw rod motor and makes joint upper and lower leg ratio recovery 1:9, and walking device recovers forward traveling.
What finally illustrate is, above preferred embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although by above preferred embodiment to invention has been detailed description, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from claims of the present invention limited range.
Claims (7)
1. a drive lacking running gear, it is characterized in that: comprise the leg be made up of two inner side legs and two outer legs, described inner side leg is connected by bent axle with outer legs, and described bent axle comprises one section of axis, two short supporting axles, transverse axis outside transverse axis and two ends in two sections, described inner side leg is rotating to be arranged on interior transverse axis, and described two outer legs are rotating to be respectively arranged on the outer transverse axis at two ends, described inside and outside leg is provided with the spacing ring that can slide thereon, described lifting hip joint is fixed on upper body platform sinistral or right side, and comprise slide block, screw rod motor and slide rail, described its center is threaded, and middle through screw rod, described screw rod is connected with the screw rod motor shaft be fixed on the platform of upper body, described fixing hip joint is fixed on upper body platform dextral or left side, comprises pair of parallel spacing ring, described upper body platform there are four supports, middle two stent support are at axis two ends, described axis to penetrate rotatably inside platform on two supports, described short supporting axle penetrates rotatably platform outboard support, described screw rod motor lays respectively at lower position in the middle of left side or right side two stands, be fixedly connected with platform, described motor is by belt and middle major axis synchronous rotary, described master control set comprises data acquisition unit, actuating device and master control set, the information of described master control set real-time processing data harvester, realize turning by actuating device regulable control turning device, and control the acceleration and deceleration that driving motor realizes walking, described turning structure is made up of screw rod motor and sliding joint, realizing walking device right-hand rotation or turning left, reducing sliding joint and realize walking device left-hand rotation or turn right by raising sliding joint, described power supply provides energy for device.
2. a kind of drive lacking running gear according to claim 1, is characterized in that: the lower end of described leg is provided with the foot as part of contacting to earth, and described foot contacts with ground point and arranges.
3. a kind of drive lacking running gear according to claim 1, is characterized in that: in described leg, outer legs is four identical straight legs of length, wherein, during walking, in inner side leg or outer legs with earth surface be supporting leg, leave ground for leading leg.
4. a kind of drive lacking running gear according to claim 1, is characterized in that: described fixing hip joint is positioned at the mirror position of lifting hip joint, arranges rotatable slip pipe form by two.
5. a kind of drive lacking running gear according to claim 1, it is characterized in that: described lifting hip joint is made up of screw rod motor and slider bracket, described slider bracket is arranged on the platform right side or lower left and can slides up and down with screw rod rotation, it is the long ratio of the upper and lower leg of boundary that lifting hip joint can change with joint, upward sliding can reach minimum scale value 1:10, it is 1:8 that slide downward can reach maximum scale value, and when lifting slider height is consistent with fixing hip joint height, ratio value is 1:9; Slide block rises, and when ratio value is greater than 1:9, walking device is right or turn left; Slide block declines, and when ratio value is less than 1:9, walking device left or right turns; When slide block remains on the height of 1:9, walking device is kept straight on.
6. the Servo Control method of the drive lacking running gear according to any one of claim 1 to 5, comprises forward-reverse control method and left-hand rotation right-hand rotation control method, it is characterized in that:
Forward-reverse control method comprises the following steps:
A) connect device, opening power, device starts;
B) motor cw (conter clockwise) rotates 10 °, and upper body center of gravity leans forward (hypsokinesis);
C) motor conter clockwise (cw) rotates, and being now in preaxial leg is supporting leg, and another is for leading leg;
D) information of master control set real-time processing data harvester, regulates the lifting position of hip joint and the rotating speed of driving motor by accessory drive, keeps walking device steadily to advance;
E) lead leg and reach angle on target, waiting for leads leg contacts to earth; When control system detects motor reverse impulse, determine now to lead leg and contact to earth, now system is led leg and is completed switching action with supporting leg;
F) repeat c), d) and e) process, complete and continue to move ahead or retreat.
7. the Servo Control method of drive lacking running gear according to claim 6, is characterized in that:
Left-hand rotation right-hand rotation control method comprises the following steps:
A) walking device is in forward traveling;
B) lead leg when overlapping with supporting leg, master control set controls screw rod motor cw (conter clockwise) and rotates, slide block is made to rise (decline), the upper and lower leg ratio of joint is greater than 1:9 and is less than 1:8 (be less than 1:9 and be greater than 1:10), the inside and outside leg step pitch in left side is greater than (being less than) right side step pitch, lead leg after landing, on the left of walking device, displacement is greater than (being less than) right side, thus realizes turning right (left-hand rotation);
C) repeat b) process, make walking device continue to turn;
D) master control set controls screw rod motor and makes joint upper and lower leg ratio recovery 1:9, and walking device recovers forward traveling.
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| CN201510430618.6A CN105128976B (en) | 2015-07-21 | 2015-07-21 | A kind of drive lacking running gear and its Servo Control method |
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| CN201510430618.6A CN105128976B (en) | 2015-07-21 | 2015-07-21 | A kind of drive lacking running gear and its Servo Control method |
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Cited By (6)
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| CN105774938A (en) * | 2016-03-03 | 2016-07-20 | 胡建令 | Biped robot with obstacle crossing function |
| CN105774939A (en) * | 2016-03-29 | 2016-07-20 | 重庆邮电大学 | Novel semi-passive quadruped robot turning structure and control method thereof |
| CN106080832A (en) * | 2016-08-09 | 2016-11-09 | 重庆邮电大学 | Semi-passive running gear and control method thereof |
| CN106394716A (en) * | 2016-07-05 | 2017-02-15 | 河海大学常州校区 | Stair climbing assisting device for freight transportation |
| WO2017117886A1 (en) * | 2016-01-08 | 2017-07-13 | 重庆足步科技有限公司 | Bionic foot walking aid with drive control |
| CN109625116A (en) * | 2018-12-18 | 2019-04-16 | 江汉大学 | Can kneebend semi-passive walking robot and control method |
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| CN109625116B (en) * | 2018-12-18 | 2020-12-15 | 江汉大学 | Semi-passive walking robot capable of doing knee bending movement and control method |
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