CN106828657B - A kind of two-stage vibration damping ankle foot one parallel connection low impact walking foot mechanism and control method - Google Patents
A kind of two-stage vibration damping ankle foot one parallel connection low impact walking foot mechanism and control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The present invention provides a kind of two-stage vibration damping ankle foot one low impact walking foot mechanism in parallel and control methods, sufficient Ground shock waves power can be effectively reduced, and can be carried out active control.Sufficient mechanism of walking includes sufficient leg connecting platform, sufficient end bottom connecting platform, three groups of prismatic pairs, three groups of revolute pairs, three groups of ball pairs, lower platform dummy robot's foot end, prismatic pair is that driving is secondary, dummy robot leg, inlay the cushion blocking with frictional force in sufficient end bottom connecting platform lower surface, for first order vibration damping, the arrangement of three groups of prismatic pairs is mirror symmetry, prismatic pair includes hydraulic cylinder, spring-damper, servo valve and controller, spring-damper covers on the cylinder piston rod of hydraulic cylinder, for second level vibration damping, to be integrally formed the minority carrier generation lifetime of Three Degree Of Freedom configuration, it can be realized and prolong x, two rotational freedoms and a z in the direction y to translation freedoms.The invention enables robot planning and controls flexibly, reliable, stability is high.
Description
Technical field
The present invention relates to a kind of two-stage vibration damping ankle foot one low impact walking foot mechanism in parallel and control methods.
Background technique
The mobile behavior of legged type robot has the characteristics that discontinuous support, can leaping over obstacles, gully, adapt to each
The rugged ground environment of kind, has very strong terrain adaptability, is the best equipment of the wheeled unreachable landform of crawler equipment
Form.The collision at sufficient end and contact ground frequently occurs in the process of walking for legged type robot, and the payload at sufficient end exists
Support phase and swing phase phase difference are extremely greatly different, more importantly there are very big in support phase and swing phase switching moment
Impact.If cannot in time, absorption is effectively performed, temporary impact will be transmitted to the parts such as legged type robot body, influence to walk
Stability and the destruction that may cause mechanical system, sufficient end performance influences more obvious especially under high speed Dynamic gait mode.It is existing
There is sufficient end to mostly use single-stage spring damping mechanism, ankle series connection, passive control or some freedom Active Control Design enough, there are ankles
The problems such as sufficient rigidity is low, foot ground bearing area is non-adjustable, foot ground contact angle is uncontrollable, and then cause: 1) leg foot Rigidity Matching
Difficult design, otherwise sufficient Ground shock waves will substantially be transmitted to body；2) even if contacting the influence to body posture enough passes through machine
The planning of people's top layer, can also cause adjustment to be failed because of sufficient end passive adaptation；3) it is difficult to be formed the propulsion at sufficient end, slows down and effectively anti-
It penetrates, so that legged type robot control is complicated.Therefore on, ankle foot one is proposed, the low impact walking foot of parallel connection of two-stage vibration damping has
Important application value.
Summary of the invention
Based on the above shortcomings, the object of the present invention is to provide a kind of low impact walkings in parallel of two-stage vibration damping ankle foot one
Sufficient mechanism and control method, the premise of the instantaneous enormous impact force generated during solving the problems, such as legged type robot in traveling
Under, the adaptability to ground is improved, auxiliary robot, which is advanced, to be moved.
The technology used in the present invention is as follows: a kind of two-stage vibration damping ankle foot one low sufficient mechanism of impact walking in parallel, walking
Sufficient mechanism constitutes robot foot end, including sufficient leg connecting platform, sufficient end bottom connecting platform, three groups of prismatic pairs, three groups of revolute pairs,
Three groups of ball pairs, sufficient end bottom connecting platform dummy robot's foot end, prismatic pair are that driving is secondary, dummy robot leg, sufficient end bottom
Portion's connecting platform is equipped with multi-dimension force sensor, and sufficient end bottom connecting platform lower surface inlays the cushion blocking with frictional force, is
First order vibration damping, sufficient end bottom connecting platform are connect by three groups of ball pairs with the lower end of three groups of prismatic pairs, every group of prismatic pair it is upper
End is connect by revolute pair with sufficient leg connecting platform, and the arrangement of three groups of prismatic pairs is mirror symmetry, and prismatic pair includes hydraulic
Cylinder, spring-damper, servo valve and controller are equipped with servo valve on hydraulic cylinder, and servo valve and controller are electrically connected, as
The control execution unit of hydraulic cylinder；Spring-damper covers on the cylinder piston rod of hydraulic cylinder, is second level vibration damping, thus whole structure
At the minority carrier generation lifetime of Three Degree Of Freedom configuration, can be realized and prolong x, two rotational freedoms and a z in the direction y to
Translation freedoms.
The present invention also has following technical characteristic:
1, premised on sufficient mechanism of walking instantaneously effectively buffers, avoids rebound phenomenon, the relationship between parameter is as follows:
M: trunk quality, m: sufficient quality of walking, K: leg rigidity, k: parallel connection walking vola rigidity, c1: leg damping, c2:
Parallel connection walking vola damping, Y: leg displacement, y: parallel connection walking vola displacement；
The lumped parameter matched design criterion of the sufficient mechanism of parallel connection walking:
Avoid critical condition of snap-back are as follows: π2VKm/2k>emv, k/K<5V/ev, wherein e is the coefficient of resilience on model and ground, full
Sufficient relational expression e=exp (- c1/ 2), V: leg falling speed, v: vola falling speed；Optimum match of parameters are as follows: mass ratio m/M
=0.2, rigidity ratio k/K=4~5, damping ratio c1/c2=0.25, sufficient end will inhibit vibration amplitude to greatest extent, reduce impact force.
2, a kind of two-stage vibration damping ankle foot one as described above low control method for impacting sufficient mechanism of walking in parallel is as follows:
Method one, the passive cushioning control of sufficient end master: when the landing moment in legged type robot walking process, this walking foot mechanism and ground
Effect initially enter passive buffer stage, when three-dimensional force sensor reaches a certain design threshold, this walking foot mechanism is according to punching
Hit intensity enters the active buffer stage, and three groups of prismatic pairs use big damping control at this time；Method two, robot organism adaptation tune
Whole control: when robot is in rough and uneven in surface road surface or slope surface, three groups of prismatic pairs use position control, according to robot top layer
The adjustment signal of planning, so as to adjust machine human organism's posture, is allowed to and landform by driving specific hydraulic cylinder to elongate or shorten
Be adapted, guarantee body balance and manned riding comfort；
Method three, high energy efficiency foot end Solid rocket engine: three groups of prismatic pairs mix control with power using position, pass through robot top
Layer planning can be realized the high energy efficiency that sufficient formula promotes and promote:
3.1) it after this walking sufficient mechanism landing and buffering, plans when the sufficient mechanism of this walking imitates sufficient formula mammal walking
Leg thrust is pushed ahead in turn, and ground is made to give robot one direction of travel active force, is realized and is efficiently promoted；
3.2) when robot slows down, the micro- tilting of foot when the sufficient mechanism of this walking imitates sufficient formula mammal walking is planned
Make, is slowed down by the forward retardation of the sufficient mechanism of this walking, and then make up traditional robot to plan by adjusting body
The deficiency of deceleration；
Method four, reflex control: when the sufficient mechanism of this walking steps on empty, depression or skids, according to force snesor feedback signal
Judge sufficient end foot ground state, under the premise of not changing the planning of robot top layer, controls the sufficient mechanism of this walking and realize stepping on for foot ground
Empty, depression or reflection of skidding, and then realize that robot grading control intelligent adaptive, reduction complete machine control difficulty.
The present invention is based on bionic models to provide the low impact walking foot of parallel connection of a kind of ankle foot one, two-stage vibration damping, has
Have with the matched two-stage vibration reduction and cushioning mechanism of complete machine, while ankle foot freedom degree is completely actively controllable.With existing robot ambulation
Foot is compared, the invention has the characteristics that:
1, leg stiffnes s equivalent is balanced into the difficulty of leg mechanical mechanism flexible design and Anti fatigue Design to foot, and
And integrated design constitutes two-stage buffering to ankle enough, realizes ankle-joint high rigidity, full active control；
2, the design criteria and parameter matching range of legged type robot walking foot are proposed, guarantees the stabilization that interacts enough
Property, low impact；
3, parallel institution walking foot has the performance for mitigating sufficient Ground shock waves and can apply damping, effectively inhibits low frequency foot ground
Impact, rapid decay impact force guarantee stable machine；
4, parallel institution walking foot has the active regulating power under support, so that foot ground bearing area increases, improves machine
The environment passability of body stability, terrain adaptability and robot.
5, integrated design is capable of forming efficient active propulsion and reflection mechanism, and adjustable body posture to ankle enough, especially
When stepping on empty and depression, without changing the planning of robot top layer, and then robot grading control is realized, so that robot
Planning and control are flexibly, reliably.
Detailed description of the invention
Fig. 1 is the main view of present invention walking foot,
Fig. 2 is the left view of present invention walking foot,
Fig. 3 is the physical model of the vibration reduction and cushioning mechanism of present invention walking foot；
Fig. 4 is the matching relationship schematic diagram that the present invention walks between sufficient physical model and mechanical mechanism；
Fig. 5 is the sufficient schematic diagram of mechanism of present invention walking.
Specific embodiment
For the technology contents that the present invention will be described in detail, construction feature, the purpose and effect realized, below in conjunction with embodiment party
Formula simultaneously cooperates attached drawing to be described in detail.
Embodiment 1
As shown in Figs. 1-2, present embodiment discloses a kind of two-stage vibration damping ankle foot one low sufficient mechanism of impact walking in parallel,
Sufficient mechanism of walking constitutes robot foot end, including sufficient leg connecting platform, sufficient end bottom connecting platform, three groups of prismatic pairs, three groups turns
Dynamic secondary, three groups of ball pairs, sufficient end bottom connecting platform dummy robot's foot end, prismatic pair are that driving is secondary, dummy robot leg,
Sufficient end bottom connecting platform is equipped with six-dimension force sensor, and connecting platform 2 lower surface in sufficient end bottom, which inlays to have, rubs
The cushion blocking 1 of power is wiped, is first order vibration damping, the lower end that sufficient end bottom connecting platform 2 passes through three groups of ball pairs 3 and three groups of prismatic pairs 7
The upper end of connection, every group of prismatic pair 7 is connect by revolute pair 6 with upper mounting plate 5, and the arrangement of three groups of prismatic pairs 7 is mirror image pair
Claim, prismatic pair 7 includes hydraulic cylinder, spring-damper 4, servo valve and controller, servo valve is installed on hydraulic cylinder, servo valve with
Controller electrical connection, the control execution unit as hydraulic cylinder；4 sets of spring-damper on the cylinder piston rod of hydraulic cylinder, be
Second level vibration damping can be realized to be integrally formed the minority carrier generation lifetime (3-RPS configuration) of Three Degree Of Freedom configuration and prolong x,
Two rotational freedoms and a z in the direction y to translation freedoms.
Embodiment 2
As shown in Figure 3-4, it is suitable for that the animal to walk all has preferable foot of evolving substantially, knows with reference to bionics correlation theory
Know, establishes bionic walking foot physical model, premised on sufficient mechanism of walking instantaneously effectively buffers, avoids rebound phenomenon, ginseng
Several relationships are as follows:
M: trunk quality, m: sufficient quality of walking, K: leg rigidity, k: parallel connection walking vola rigidity, c1: leg damping, c2:
Parallel connection walking vola damping, Y: leg displacement, y: parallel connection walking vola displacement；
The lumped parameter matched design criterion of the sufficient mechanism of parallel connection walking:
Avoid critical condition of snap-back are as follows: π2VKm/2k>emv, k/K<5V/ev, wherein e is the coefficient of resilience on model and ground, full
Sufficient relational expression e=exp (- c1/ 2), V: leg falling speed, v: vola falling speed；Optimum match of parameters are as follows: mass ratio m/M
=0.2, rigidity ratio k/K=4~5, damping ratio c1/c2=0.25, sufficient end will inhibit vibration amplitude to greatest extent, reduce impact force.
When sufficient Ground shock waves power is excessive, can takeoff phenomenon enough, with surface separation, not takeoff phenomenon as base using foot
Standard, by the non-dimension analysis carried out to model, obtain each parameter is to the affecting laws of system, mass ratio m/M to system without
It influences, only changes vibration frequency, with reference to the mass ratio of general walking animal foot and trunk when parameter designing, ratio takes 0.2；Rigidity
It plays a major role than k/K to system vibration, rigidity ratio is bigger, and sufficient vibration amplitude is bigger, and jumping phenomena is more obvious, and rigidity ratio is too
Low, then decrement is bigger, and sufficient sinkage is more obvious, and optimum ratio is 4~5；Damping ratio can inhibit to a certain extent
Vibration reduces vibration amplitude, with Rigidity Matching, it is ensured that the stationarity of body, damping ratio c1/c2When=0.25, vibration damping effect
Fruit is preferable.
Embodiment 3
As shown in figure 5, sufficient structure of walking is designed from the matching with complete machine, based on minority carrier generation lifetime,
After analyzing legged type robot and requiring the freedom degree of walking foot, using screw theory as the design method of synthesis of mechanism,
Synthesis goes out the 3-RPS minority carrier generation lifetime for the sufficient mechanism form that is suitable as walking, and there are three groups of identical movement branches in mechanism,
Be respectively fixed with that ball is secondary, revolute pair between sufficient leg connecting platform and sufficient end bottom connecting platform, between by prismatic pair connection, three
Group movement branch hub point is not overlapped in space, and three groups of movement branches use the arrangement of mirror symmetry, tool on platform
There is better mechanical characteristic.Mechanism may be implemented to prolong x, two rotational freedoms and a z in the direction y to translation it is free
Degree.
Corresponding relationship between mechanism structure and mechanical structure is that sufficient leg connecting platform and sufficient end bottom connecting platform are with one
Determine thickness steel plate to be made, ball pair is realized with flexural pivot, and prismatic pair is realized by the component of major part of hydraulic cylinder, and revolute pair passes through ear
Ring and pin shaft cooperation are realized.Mechanism is that driving is secondary with prismatic pair hydraulic cylinder, by the control to hydraulic cylinder, mechanism can be made to make
It is ± 15 ° that different position and attitudes, motion range, which are sufficient angle range of walking, and z is to stroke 60mm.
According to mechanism kinematic ability, the control model of bionical walking foot in parallel is illustrated.The ground of multi-foot robot is suitable
Answering property is stronger, lower to environmental requirement, and as platybasic type foot end, in complex environment walking, need to change sufficient movement appearance
State makes sufficient major part and ground face contact, increases bearing area.From the above analysis, bionical walking foot in parallel, which is expert at, passes by
Cheng Zhong can judge foot and ground face contact situation according to six-dimension force sensor after foot landing, the position and attitude of adjustment foot, makes in time
The landing completely of walking foot.
Foot end mechanism, control model are as follows:
One, the passive cushioning control of sufficient end master: when the landing moment in legged type robot walking process, the work at sufficient end and ground
With passive buffer stage is initially entered, when three-dimensional force sensor reaches a certain design threshold, sufficient end can enter according to impact strength
Active buffer stage, electrohydraulic servo system that sufficient end electrohydraulic servo valve and hydraulic cylinder are constituted in parallel at this time of walking use big damping control
System；
Two, robot organism adaptation adjustment control: when robot is in rough and uneven in surface road surface or slope surface, parallel connection walking
The electrohydraulic servo system that sufficient end electrohydraulic servo valve and hydraulic cylinder are constituted uses position control, the tune that can be planned according to robot top layer
Entire signal, so as to adjust machine human organism's posture, is allowed to be adapted with landform by driving specific hydraulic cylinder to elongate or shorten,
The balance of guarantee body and manned riding comfort；
Three, high energy efficiency foot end Solid rocket engine, the electro-hydraulic servo system that the sufficient end electrohydraulic servo valve of parallel connection walking and hydraulic cylinder are constituted
System mixes control with power using position, can be realized the high energy efficiency that sufficient formula promotes by the planning of robot top layer and promotes: 1) working as foot
After holding landing and buffering, plans leg thrust when sufficient formula mammal walking is imitated at sufficient end and then push ahead, make ground to machine
One direction of travel active force of device people is realized and is efficiently promoted；2) when robot slows down, plan that sufficient formula mammal is imitated at sufficient end
The micro- tilting of foot when walking is made, and is slowed down by the forward retardation on foot ground, and then make up traditional robot to pass through tune
The deficiency that the planning of complete machine body is slowed down.
Four, when robot foot end steps on empty, depression or skids, foot reflex control: is judged according to force snesor feedback signal
End foot ground state, under the premise of not changing the planning of robot top layer, control that in parallel sufficient end of walking realizes foot ground steps on empty, depression
Or reflection of skidding, and then realize robot grading control intelligent adaptive, reduce complete machine control difficulty；
The invention has the beneficial effects that a kind of bionical walking foot in parallel of legged type robot is collection vibration damping drop impact, actively transport
Dynamic to be controlled in integrated ankle foot one body multifunctional walking foot, foot design of walking is based on bionic principle, can effectively reduce impact
It tries hard to keep and demonstrate,proves organism stability, change simultaneously the traditional control method of walking foot, active control structure is added, auxiliary complete machine moves,
Sufficient function is set to tend to diversification.
Claims (3)
- The sufficient mechanism 1. a kind of two-stage vibration damping ankle foot one low impact in parallel is walked, sufficient mechanism of walking constitute robot foot end, including Sufficient leg connecting platform, sufficient end bottom connecting platform, three groups of prismatic pairs, three groups of revolute pairs, three groups of ball pairs, sufficient end bottom connecting platform Dummy robot's foot end, prismatic pair are that driving is secondary, dummy robot leg, it is characterised in that: sufficient end bottom connecting platform installation There is multi-dimension force sensor, the cushion blocking with frictional force is inlayed in sufficient end bottom connecting platform lower surface, is first order vibration damping, sufficient end Bottom connecting platform is connect by three groups of ball pairs with the lower end of three groups of prismatic pairs, and the upper end of every group of prismatic pair passes through revolute pair and foot The arrangement of the connection of leg connecting platform, three groups of prismatic pairs is mirror symmetry, and prismatic pair includes hydraulic cylinder, spring-damper, watches Valve and controller are taken, servo valve is installed on hydraulic cylinder, servo valve and controller are electrically connected, and the control as hydraulic cylinder executes Unit；Spring-damper covers on the cylinder piston rod of hydraulic cylinder, is second level vibration damping, to be integrally formed Three Degree Of Freedom configuration Minority carrier generation lifetime can be realized and prolong x, two rotational freedoms and a z in the direction y to translation freedoms.
- The sufficient mechanism 2. a kind of two-stage vibration damping ankle foot one low impact in parallel according to claim 1 is walked, which is characterized in that Premised on sufficient mechanism of walking instantaneously effectively buffers, avoids rebound phenomenon, the relationship between parameter is as follows:M: trunk quality, m: sufficient quality of walking, K: leg rigidity, k: parallel connection walking vola rigidity, c1: leg damping, c2: it is in parallel The damping of walking vola, Y: leg displacement, y: parallel connection walking vola is displaced；The lumped parameter matched design of the sufficient mechanism of parallel connection walking is quasi- Then:Avoid critical condition of snap-back are as follows: π2VKm/2k > emv, k/K < 5V/ev, wherein e is the coefficient of resilience on model and ground, meets and closes It is formula e=exp (- c1/ 2), V: leg falling speed, v: vola falling speed；Optimum match of parameters are as follows: mass ratio m/M= 0.2, rigidity ratio k/K=4~5, damping ratio c1/c2=0.25, sufficient end will inhibit vibration amplitude to greatest extent, reduce impact force.
- The controlling party of sufficient mechanism 3. a kind of two-stage vibration damping ankle foot one low impact in parallel according to claim 1 or 2 is walked Method, which is characterized in that control method is as follows:Control one, the sufficient passive cushioning control of end master: when the landing moment in legged type robot walking process, this walking foot mechanism and The effect on ground initially enters passive buffer stage, when three-dimensional force sensor reaches a certain design threshold, this walking foot mechanism root Enter the active buffer stage according to impact strength, three groups of prismatic pairs use big damping control at this time；Control two, robot organism adaptation Property adjustment control: when robot be in rough and uneven in surface road surface or slope surface, three groups of prismatic pairs are using position control, according to robot The adjustment signal of top layer planning, by driving specific hydraulic cylinder to elongate or shorten, so as to adjust machine human organism's posture, be allowed to Landform be adapted, guarantee body balance and manned riding comfort；Control three, high energy efficiency foot end Solid rocket engine: three groups of prismatic pairs mix control with power using position, are advised by robot top layer It draws and can be realized the high energy efficiency propulsion that sufficient formula promotes:Control three, mono-: after this walking sufficient mechanism landing and buffering, when planning that the sufficient mechanism of this walking imitates sufficient formula mammal walking Leg thrust so that push ahead, make ground give robot one direction of travel active force；It controls three, bis-: when robot slows down, planning that foot when the sufficient mechanism of this walking imitates sufficient formula mammal walking is micro- and stick up Movement；Control four, reflex control: when the sufficient mechanism of this walking steps on empty, depression or skids, according to multi-dimension force sensor feedback signal Judge sufficient end foot ground state, under the premise of not changing the planning of robot top layer, controls the sufficient mechanism of this walking and realize stepping on for foot ground Empty, depression or reflection of skidding.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110550122B (en) * | 2018-05-30 | 2020-05-19 | 天津职业技术师范大学 | Supporting leg lower limb mechanism of multi-legged robot with large load bearing ratio |
| CN108544475B (en) * | 2018-06-05 | 2020-10-27 | 清华大学 | Large-stroke force-control machining robot based on planar two-degree-of-freedom series-parallel mechanical arm |
| CN108789358B (en) * | 2018-06-05 | 2020-10-27 | 清华大学 | Mobile series-parallel processing robot based on three-degree-of-freedom force control parallel module |
| CN109322969B (en) * | 2018-11-09 | 2023-12-15 | 迅达（中国）电梯有限公司 | Vibration damper for main machine of elevator |
| CN109968007B (en) * | 2019-04-07 | 2020-01-31 | 西安电子科技大学 | Macro-micro manipulator spiral part assembling device based on active-passive cooperative compliance |
| CN111924020B (en) * | 2020-08-11 | 2022-07-12 | 腾讯科技（深圳）有限公司 | Leg assembly and apparatus for robot |
| CN115933723B (en) * | 2023-01-04 | 2023-08-25 | 之江实验室 | Whole-body compliant control method applied to rapid walking of biped robot |
| CN117734851A (en) * | 2024-02-21 | 2024-03-22 | 成都理工大学 | Parallel robot and foot robot with vibration reduction function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04250988A (en) * | 1991-01-09 | 1992-09-07 | Tokimec Inc | Leg mechanism for walking robot |
| DE19637501C2 (en) * | 1996-09-13 | 2000-07-13 | Josef Schlattmann | Walking machine and method for controlling a walking machine |
| CN1294045C (en) * | 2004-09-09 | 2007-01-10 | 上海交通大学 | Foot structure of four foot walking robot with foot float support |
| CN101428656B (en) * | 2008-12-16 | 2010-12-29 | 吉林大学 | Underactuated biped robot multi-mode underactuated elastic foot with lateral degrees of freedom |
| CN102085145B (en) * | 2010-11-29 | 2014-06-25 | 燕山大学 | Reconfigurable device for walking robot with four/two parallel legs |
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