CN108214519A - A kind of aerial any attitude extremely lands the self-adjusting quadruped robot of posture - Google Patents
A kind of aerial any attitude extremely lands the self-adjusting quadruped robot of posture Download PDFInfo
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- CN108214519A CN108214519A CN201711366306.9A CN201711366306A CN108214519A CN 108214519 A CN108214519 A CN 108214519A CN 201711366306 A CN201711366306 A CN 201711366306A CN 108214519 A CN108214519 A CN 108214519A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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 invention discloses a kind of aerial any attitude to the self-adjusting quadruped robot of posture is landed, include servos control unit, steering engine and quadruped robot.The quadruped robot has trunk ontology and can carry out the leg unit of space two degree-of-freedom motion, by the taper swinging momvement of leg unit different directions, makes it that can be adjusted to landing posture from any posture in space and reaches ground.Steering engine is separately installed on four leg units of quadruped robot, steering engine is controlled by the steering engine instruction of servos control unit output.Servos control unit carries out each servos control using the adjusting sequence of X-axis → Y-axis → Z axis.When carrying satellite structure body using robot of the present invention, the pose adjustment under can realize that satellite steadily lands act on without external force.
Description
Technical field
The present invention relates to a kind of quadruped robots, more particularly, refer to a kind of aerial any attitude to landing posture certainly
The quadruped robot of adjustment.Robot of the present invention can realize that satellite is steadily landed in posture tune of the space without external force
It is whole.
Background technology
In recent years, in the research of robot, the research of particularly bionical quadruped robot is paid close attention to always by people.
With the complication of robot working environment and task, it is desirable that robot have higher kinematic dexterity and it is special not
The adaptability of environment is known, as needed to control the posture of robot in jump, working at height dropping process.
Application publication number CN103112513A, data of publication of application on May 22nd, 2013 disclose " a kind of to have posture tune
The Locust-like robot of whole function ", the Locust-like robot make robot carry out pitching deflection using the swing of tail portion.
It is general to limit to but since the aerial statue control for acting on current robot without external force in the air is more difficult
In single-degree-of-freedom, small range adjustment movement, any attitude adjustment of robot entirety can not be realized；And such as by using flywheel
It waits devices that robot is made to carry out pose adjustment, then increases the volume, quality and system complexity of robot.
Invention content
An object of the present invention is to provide a kind of aerial any attitude to the landing self-adjusting quadruped robot of posture.It should
Quadruped robot is controlled and is adjusted to its aerial statue by the taper swinging momvement of four leg units, without increasing additionally
Adjustment mechanism or equipment, can be in extensive utilization to robot and spacecraft field.Quadruped robot of the present invention can be used for having
Pose adjustment of multiple work arm satellites under the agravic environment of space.
The gesture stability side converted it is another object of the present invention to propose a kind of aerial statue suitable for quadruped robot
Method, the attitude control method only realize the lower any attitude of no external force effect using the taper swinging momvement of the four limbs of quadruped robot
Adjustment.Any attitude adjustment in space is decomposed into the rotation of three orthogonal directions (X, Y, Z axis direction) by the present invention, finally
Robot is made to be adjusted to suitable (fixed, damage can a be reduced) posture and meets landing (or other required postures), so
Targeted attitude is reached by the swing of leg different modes afterwards.Each leg list in the quadruped robot mechanism designed in the present invention
Member number of degrees of freedom, be more than 2, using joint frame carrying steering engine realize leg unit taper swinging momvement (i.e. leg unit is around a certain fixed point
Rotation, the path that leg unit skims over are conical surface).The attitude control method is simple and clear, without introducing additional mechanism and sky
Between, the skyborne flexibility of robot can be increased preferably applied in the design and control of all kinds of quadruped robots.The present invention
In control method be suitable for working at height etc. and have the quadruped robot for falling risk, realize robot and undertake the self-insurance of object,
Also it can operate with the pose adjustment of the spacecraft with work arm.
Quadruped robot of the present invention is rotated from any attitude to when landing posture, is first overturn around X-axis, from initial attitude
1 starts, and subsequent four leg units respectively do taper swinging momvement around the straight line parallel with X-axis relative to trunk ontology 1 simultaneously, and four
The taper swinging momvement of a leg unit be synchronize it is equidirectional；According to conservation of angular momentum principle, trunk ontology 1 will towards with four legs
The direction that the taper swinging momvement of unit is opposite rotates θ around X-axisxAngle is realized to the initial attitude 2 prepared around Y-axis rotation
Robot it is whole around X-axis flip-flop movement.Subsequent robot is prepared to enter into the adjusting stage of next stage (being rotated around Y-axis), this
When four leg units be respectively positioned on same plane and be parallel to X axis, need leg unit being rocked to and be respectively positioned on same plane and parallel
In the posture of Y-axis.Therefore in the case where four leg units are arranged along X-axis, the steering engine that four leg units are connected with ontology is divided
Not clockwise, rotation turn 90 degrees the posture arranged with regard to that can obtain four leg units along Y-axis counterclockwise.Then robot is carried out around Y-axis
Overturning, at this time trunk ontology 1 and four leg units tile, and four leg units are parallel to Y-axis, then four leg units are simultaneously
It is lifted up；Subsequent four leg units respectively do taper swinging momvement around the straight line for being parallel to Y-axis simultaneously, and the circle of four leg units
Conical pendulm movement be synchronize it is equidirectional；According to conservation of angular momentum principle, trunk ontology 1 will be towards the conical pendu0 with four leg units
It moves opposite direction and rotates θ around Y-axisyAngle realizes robot entirety to the initial attitude 3 prepared around Z axis rotation
Around Y-axis flip-flop movement.Subsequent robot is prepared to enter into the adjusting stage of next stage (rotating about the z axis), and subsequent robot prepares
Into the adjusting stage of next stage (about the z axis rotate), four leg units are respectively positioned on same plane and are parallel to Y-axis at this time, need
Leg unit is rocked to each parallel to Z axis, and two leg units are upward, two leg unit postures directed downwardly, leg unit warp
Reach the posture after crossing 90 degree of rotations, trunk ontology 1 tiles at this time, and two leg units are upward, and two leg units are downward, and four
Leg unit is each parallel to Z axis.Then four leg units cross hinge centres point and the straight line parallel with Z axis around respective simultaneously respectively
Do taper swinging momvement, the taper swinging momvement of four leg units be synchronize it is equidirectional；According to conservation of angular momentum principle, trunk ontology
1 will about the z axis rotate towards the direction opposite with the taper swinging momvement of four leg units, when trunk ontology 1 rotates θ around Z axiszAngle
When spending, leg unit stops taper swinging momvement, then returns to simultaneously and is parallel to Z axis, and two leg units are upward, two leg lists
Member posture directed downwardly, then two upward leg units are identical with two leg unit directions under being directed toward to lower swing 180 degree,
Robot is made to adjust to landing posture, four leg units are downward at this time, are ready to meet landing.
A kind of aerial any attitude of the present invention extremely lands the self-adjusting quadruped robot of posture, it is characterised in that：Four-footed
Robot is by trunk ontology (1), left fore (2), left hind (3), right fore (4), right hind (5), the first joint frame (6),
Two joint framves (7), third joint frame (8), the 4th joint frame (9) and (8) a steering engine are formed；
Wherein, left fore (2), left hind (3), right fore (4) are identical with the structure of right hind (5)；
Wherein, the structure of the first joint frame (6), second joint frame (7), third joint frame (8) and the 4th joint frame (9)
It is identical；
Wherein, (8) a steering engine refers to A steering engines (10A), B steering engines (10B), C steering engines (10C), D steering engines (10D), E steering engines
(10E), F steering engines (10F), G steering engines (10G) and H steering engines (10H)；
Left front leg unit (11A) is made of left fore (2), the first joint frame (6) and two steering engines (10A, 10B)；Trunk
A steering engines (10A), the first joint frame (6) and left fore are installed between the AA support arms (1A) of ontology (1) and the first joint frame (6)
(2) B steering engines (10B) are installed between；The A steering wheels (10A1) of A steering engines (10A) are fixed on the AA support arms (1A) of trunk ontology (1)
AA steering wheels slot (1A1) in, the housing of A steering engines (10A) is fixed in the A steering engines chamber (6B) of the first joint frame (6)；B steering engines
The B steering wheels (10B1) of (10B) are fixed in the B steering wheels slot (6A1) of the BA support arms (6A) of the first joint frame (6), B steering engines
The housing of (10B) is fixed in the B steering engines chamber (2A1) of left fore (2)；
Left back leg unit (11B) is made of left hind (3), second joint frame (7) and two steering engines (10C, 10D)；Trunk
C steering engines (10C), second joint frame (7) and left hind are installed between the AB support arms (1B) of ontology (1) and second joint frame (7)
(3) D steering engines (10D) are installed between；The C steering wheels (10C1) of C steering engines (10C) are fixed on the AB support arms (1B) of trunk ontology (1)
AB steering wheels slot (1B1) in, the housing of C steering engines (10C) is fixed in the C steering engines chamber (7B) of second joint frame (7)；D steering engines
The D steering wheels (10D1) of (10D) are fixed in the D steering wheels slot (7A1) of the BB support arms (7A) of second joint frame (7), D steering engines
The housing of (10D) is fixed in the D steering engines chamber (3A1) of left hind (3)；
Right front leg unit (11C) is made of right fore (4), third joint frame (8) and two steering engines (10E, 10F)；Trunk
E steering engines (10E), third joint frame (8) and right fore are installed between the AC support arms (1C) of ontology (1) and third joint frame (8)
(4) F steering engines (10F) are installed between；The E steering wheels (10E1) of E steering engines (10E) are fixed on the AD support arms (1D) of trunk ontology (1)
AD steering wheels slot (1D1) in, the housing of E steering engines (10E) is fixed in the E steering engine chambers 8B of third joint frame (8)；F steering engines
The F steering wheels (10F1) of (10F) are fixed in the F steering wheels slot (8A1) of the BC support arms (8A) of third joint frame (8), F steering engines
The housing of (10F) is fixed in the F steering engines chamber (4A1) of right fore (4)；
Right rear leg unit (11D) is made of right hind (5), the 4th joint frame (9) and two steering engines (10G, 10H)；Trunk
G steering engines (10G), the 4th joint frame (9) and right hind are installed between the AD support arms (1D) and the 4th joint frame (9) of ontology (1)
(5) H steering engines (10H) are installed between；The G steering wheels (10G1) of G steering engines (10G) are fixed on the AC support arms (1C) of trunk ontology (1)
AC steering wheels slot (1C1) in, the housing of G steering engines 10G is fixed in the G steering engines chamber (9B) of the 4th joint frame (9).H steering engines
The H steering wheels 10H1 of (10H) is fixed in the H steering wheels slot (9A1) of the BD support arms (9A) of the 4th joint frame (9), H steering engines (10H)
Housing be fixed in the H steering engines chamber (5A1) of right hind (5).
It is central through hole (1G) in the middle part of trunk ontology (1), steering gear control system is fixed in the central through hole (1G)；
Reinforcing rib there are four being set between plate (1E) and lower panel (1F) above trunk ontology (1)；On lower panel 1F by symmetrical two-by-two and
Support arm, i.e. AA support arms (1A), AB support arms (1B), AC support arms (1C) and AD support arms (1D) there are four vertically setting；
The steering wheel of A steering engines (10A), A rudders are installed in the AA steering wheels slot (1A1) on the AA support arms (1A) of trunk ontology (1)
The housing of machine (10A) is mounted in the A steering engines chamber (6B) of the first joint frame (6)；
The steering wheel of C steering engines (10C), C rudders are installed in the AB steering wheels slot (1B1) on the AB support arms (1B) of trunk ontology (1)
The housing of machine (10C) is mounted in the C steering engines chamber (7B) of second joint frame (7)；
The steering wheel of E steering engines (10E), E rudders are installed in the AC steering wheels slot (1C1) on the AC support arms (1C) of trunk ontology (1)
The housing of machine (10E) is mounted in the E steering engines chamber (8B) of third joint frame (8)；
The steering wheel of G steering engines (10G), G rudders are installed in the AD steering wheels slot (1D1) on the AD support arms (1D) of trunk ontology (1)
The housing of machine (10G) is mounted in the G steering engines chamber (9B) of the 4th joint frame (9)；
Left fore (2) one end is B steering engines chamber (2A), and left fore (2) other end is left front I-shaped foot body (2B)；
Left hind (3) one end is D steering engines chamber (3A), and left hind (3) other end is left back I-shaped foot body (3B)；
Right fore (4) one end is F steering engines chamber (4A), and right fore (4) other end is I-shaped foot body (4B) before the right side；
Right hind (5) one end is H steering engines chamber (5A), and right hind (5) other end is I-shaped foot body (5B) behind the right side.
A kind of the advantages of quadruped robot air posture adjusting method of the invention, is：
1. the design of quadruped robot mechanism is concise light, easily controllable, the axial posture control of X, Y, Z tri- can be quickly realized
System.
2. the posture changing method proposed using bionics principle analysis, can pass through the fortune of the two degrees of freedom of leg unit
It is dynamic, realize the whole gesture stability of robot, can directly apply to all kinds of quadruped robots, can operation strategies it is extensive, without machine
The redundant structure (such as tail portion, flywheel etc.) of structure reduces the complexity of mechanism.
3. robot carries out the pose adjustment mode of each servos control respectively not using the adjusting sequence of X-axis → Y-axis → Z axis
It is identical, by the posture changing method, at most posture changing three times, the machine of arbitrary aerial statue are carried out around tri- axis of X, Y, Z successively
Device can be adjusted to landing posture per capita.
Description of the drawings
Fig. 1 is the structure chart of quadruped robot of the present invention.
Figure 1A is the exploded view of quadruped robot of the present invention.
Fig. 2 is the structure chart of leg unit in quadruped robot of the present invention.
Fig. 2A is the exploded view of leg unit in quadruped robot of the present invention.
Fig. 3 is the structure chart of left fore of the present invention.
Fig. 4 is the structure chart of quadruped robot landing posture of the present invention.
Fig. 5 is structure chart of the quadruped robot of the present invention around X-axis flipping gesture.
Fig. 5 A are schematic diagram of the quadruped robot of the present invention around X-axis flipping gesture.
Fig. 5 B are the kinematic sketch that quadruped robot of the present invention is overturn around X-axis.
Fig. 5 C are the servos control figures that quadruped robot of the present invention is overturn around X-axis.
Fig. 6 is structure chart of the quadruped robot of the present invention around Y-axis flipping gesture.
Fig. 6 A are schematic diagram of the quadruped robot of the present invention around Y-axis flipping gesture.
Fig. 6 B are the kinematic sketch that quadruped robot of the present invention is overturn around Y-axis.
Fig. 6 C are the servos control figures that quadruped robot of the present invention is overturn around Y-axis.
Fig. 7 is the structure chart of quadruped robot of the present invention flipping gesture about the z axis.
Fig. 7 A are the schematic diagrams of quadruped robot of the present invention flipping gesture about the z axis.
Fig. 7 B are the kinematic sketch that quadruped robot of the present invention is overturn about the z axis.
Fig. 7 C are the servos control figures that quadruped robot of the present invention is overturn about the z axis.
| 1. trunk ontology | 1A.AA support arms | 1A1.AA steering wheel slots |
| 1B.AB support arms | 1B1.AB steering wheel slots | 1C.AC support arms |
| 1C1.AC steering wheel slots | 1D.AD support arms | 1D1.AD steering wheel slots |
| 1E. top panels | 1F. lower panels | 1G. center steering wheel slot |
| 2. left fore | 2A.B steering engine chambers | The left front I-shaped foot bodies of 2B. |
| 3. left hind | 3A.D steering engine chambers | The left back I-shaped foot bodies of 3B. |
| 4. right fore | 4A.F steering engine chambers | I-shaped foot body before the 4B. right sides |
| 5. right hind | 5A.H steering engine chambers | I-shaped foot body behind the 5B. right sides |
| 6. the first joint frame | 6A.BA support arms | 6A1.B steering wheel slots |
| 6B.A steering engine chambers | 7. second joint frame | 7A.BB support arms |
| 7A1.D steering wheel slots | 7B.C steering engine chambers | 8. third joint frame |
| 8A.BC support arms | 8A1.F steering wheel slots | 8B.E steering engine chambers |
| 9. the 4th joint frame | 9A.BD support arms | 9A1.H steering wheel slots |
| 9B.G steering engine chambers | 10A.A steering engines | 10A1.A steering wheels |
| 10B.B steering engines | 10B1.B steering wheels | 10C.C steering engines |
| 10C1.C steering wheels | 10D.D steering engines | 10D1.D steering wheels |
| 10E.E steering engines | 10E1.E steering wheels | 10F.F steering engines |
| 10F1.F steering wheels | 10G.G steering engines | 10G1.G steering wheels |
| 10H.H steering engines | 10H1.H steering wheels | 11A. left front leg units |
| The left back leg units of 11B. | 11C. right front leg units | 11D. right rear leg units |
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
Referring to a kind of aerial any attitude that shown in Fig. 1, Figure 1A, the present invention designs to the landing self-adjusting four-footed machine of posture
Device people, by trunk ontology 1, left fore 2, left hind 3, right fore 4, right hind 5, the first joint frame 6, second joint frame 7,
Three joint framves 8, the 4th joint frame 9 and 8 steering engines are formed；
Wherein, left fore 2, left hind 3, right fore 4 are identical with the structure of right hind 5；
Wherein, the first joint frame 6, second joint frame 7, third joint frame 8 are identical with the structure of the 4th joint frame 9；
Wherein, 8 steering engines refer to A steering engine 10A, B steering engine 10B, C steering engine 10C, D steering engine 10D, E steering engine 10E, F steering engines
10F, G steering engine 10G and H steering engine 10H.
Referring to shown in Fig. 2, Fig. 2A, left front leg unit 11A by left fore 2, the first joint frame 6 and two steering engines (10A,
10B) form；A steering engines 10A, the first joint frame 6 and a left side are installed between the AA support arms 1A of trunk ontology 1 and the first joint frame 6
B steering engines 10B is installed between forelimb 2.The A steering wheels 10A1 of A steering engines 10A is fixed on the AA steering wheels of the AA support arms 1A of trunk ontology 1
In slot 1A1, the housing of A steering engines 10A is fixed in the A steering engine chambers 6B of the first joint frame 6.The B steering wheels 10B1 of B steering engines 10B is fixed
In the B steering wheel slots 6A1 of the BA support arms 6A of the first joint frame 6, the housing of B steering engines 10B is fixed on the B steering engine chambers of left fore 2
In 2A1.
Referring to shown in Fig. 2, Fig. 2A, left back leg unit 11B by left hind 3, second joint frame 7 and two steering engines (10C,
10D) form；C steering engine 10C, second joint frame 7 and a left side are installed between the AB support arms 1B of trunk ontology 1 and second joint frame 7
D steering engines 10D is installed between hind leg 3.The C steering wheels 10C1 of C steering engines 10C is fixed on the AB steering wheels of the AB support arms 1B of trunk ontology 1
In slot 1B1, the housing of C steering engines 10C is fixed in the C steering engine chambers 7B of second joint frame 7.The D steering wheels 10D1 of D steering engines 10D is fixed
In the D steering wheel slots 7A1 of the BB support arms 7A of second joint frame 7, the housing of D steering engines 10D is fixed on the D steering engine chambers of left hind 3
In 3A1.
Referring to shown in Fig. 2, Fig. 2A, right front leg unit 11C by right fore 4, third joint frame 8 and two steering engines (10E,
10F) form；E steering engine 10E are installed between the AC support arms 1C of trunk ontology 1 and third joint frame 8, third joint frame 8 with it is right before
F steering engines 10F is installed between limb 4.The E steering wheels 10E1 of E steering engines 10E is fixed on the AD steering wheel slots of the AD support arms 1D of trunk ontology 1
In 1D1, the housing of E steering engines 10E is fixed in the E steering engine chambers 8B of third joint frame 8.The F steering wheels 10F1 of F steering engines 10F is fixed on
In the F steering wheel slots 8A1 of the BC support arms 8A of third joint frame 8, the housing of F steering engines 10F is fixed on the F steering engine chambers 4A1 of right fore 4
In.
Referring to shown in Fig. 2, Fig. 2A, right rear leg unit 11D by right hind 5, the 4th joint frame 9 and two steering engines (10G,
10H) form；G steering engine 10G, the 4th joint frame 9 and the right side are installed between the AD support arms 1D and the 4th joint frame 9 of trunk ontology 1
H steering engines 10H is installed between hind leg 5.The G steering wheels 10G1 of G steering engines 10G is fixed on the AC steering wheels of the AC support arms 1C of trunk ontology 1
In slot 1C1, the housing of G steering engines 10G is fixed in the G steering engine chambers 9B of the 4th joint frame 9.The H steering wheels 10H1 of H steering engines 10H is fixed
In the H steering wheel slots 9A1 of the BD support arms 9A of the 4th joint frame 9, the housing of H steering engines 10H is fixed on the H steering engine chambers of right hind 5
In 5A1.
Quadruped robot of the present invention is to utilize two orthogonal steering engines of axis between four leg units and trunk ontology 1
The taper swinging momvement of (such as Fig. 4) synthesis, to realize the overturning of quadruped robot entirety.
Trunk ontology 1
Referring to shown in Fig. 1, Figure 1A, Fig. 2A, the middle part of trunk ontology 1 is central through hole 1G, solid in the central through hole 1G
Surely it is useful for the control system that quadruped robot of the present invention is controlled to complete movement.Plate 1E and lower panel 1F above trunk ontology 1
Between set there are four reinforcing rib, the reinforcing rib is connected to the load-bearing of joint frame and leg on four support arms for enhancing.Below
By symmetrical two-by-two and vertical set that there are four support arms, i.e. AA support arms 1A, AB support arms 1B, AC support arm 1C and AD support arms 1D on plate 1F.
The steering wheel of A steering engines 10A is installed in the AA steering wheel slots 1A1 on the AA support arms 1A of trunk ontology 1, A steering engines 10A's
Housing is mounted in the A steering engine chambers 6B of the first joint frame 6.
The steering wheel of C steering engines 10C is installed in the AB steering wheel slots 1B1 on the AB support arms 1B of trunk ontology 1, C steering engines 10C's
Housing is mounted in the C steering engine chambers 7B of second joint frame 7.
The steering wheel of E steering engines 10E is installed in the AC steering wheel slots 1C1 on the AC support arms 1C of trunk ontology 1, E steering engines 10E's
Housing is mounted in the E steering engine chambers 8B of third joint frame 8.
The steering wheel of G steering engines 10G is installed in the AD steering wheel slots 1D1 on the AD support arms 1D of trunk ontology 1, G steering engines 10G's
Housing is mounted in the G steering engine chambers 9B of the 4th joint frame 9.
Left fore 2
Referring to shown in Fig. 1, Figure 1A, Fig. 2, Fig. 2A, Fig. 3,2 one end of left fore is B steering engine chamber 2A, and 2 other end of left fore is
Left front I-shaped foot body 2B.
It can similarly be obtained according to Fig. 3,3 one end of left hind is D steering engine chamber 3A, and 3 other end of left hind is left back I-shaped foot body 3B.
4 one end of right fore is F steering engine chamber 4A, and 4 other end of right fore is I-shaped foot body 4B before the right side.5 one end of right hind is H steering engine chamber 5A,
5 other end of right hind is I-shaped foot body 5B behind the right side.
In the present invention, since the end structure of four leg units (11A, 11B, 11C, 11D) is identical, using " work
Word foot body " carries out freely falling body and is contacted with ground, and improving makes whole four-footed to whereabouts after quadruped robot of the present invention is integrally overturn
The stability on ground.The state diagram of four-footed landing as shown in Figure 4.
Aerial any attitude is transformed to the method for adjustment of landing posture
The aerial any attitude that the present invention designs extremely lands the self-adjusting quadruped robot of posture, four leg units
The taper swinging momvement of (11A, 11B, 11C, 11D) is controlled by four steering engines, and four steering engines are controlled by servos control unit.Scheming
In 5A, Fig. 5 B, Fig. 6 A, Fig. 6 B, Fig. 7 A, Fig. 7 B, Q1 represents the center of mass point of the first joint frame, and Q2 represents the barycenter of second joint frame
Point, Q3 represent the center of mass point of third joint frame, and Q4 represents the center of mass point of the 4th joint frame.
Next show that any attitude is transformed to landing posture to quadruped robot of the present invention in the air with specific embodiment
Method of adjustment：
First, quadruped robot is in any attitude, then four leg units be controlled by respective steering engine instruct into
Row is swung so that be respectively positioned on same plane after four leg unit motions, if at this time trunk ontology 1 relative to landing posture in X,
Angle on tri- axis of Y, Z is respectivelyIt is describedAnd servos control unit is exported to the instruction letter of each steering engine
Breath.Since the pose adjustment process of quadruped robot needs to be decomposed into successively around the fortune of X-axis → Y-axis → Z axis by Euler's angle formula
It is dynamic, therefore can be acquired around X, Y according to Euler's angle formula, the rotational angle that the sequential movements of tri- axis of Z turn is θx,θy,θz。
ψ represent leg it is parallel with X-axis when, servos control unit export needed in the command information to steering engine four leg units around
The angle (such as Fig. 5 B) of X-axis movement, the referred to as pivot angle around X-axis movement.
β represent leg it is parallel with Y-axis when, servos control unit export needed in the command information to steering engine four leg units around
The angle (such as Fig. 6 B) of Y-axis movement.
Represent leg it is parallel with Z axis when, servos control unit export needed in the command information to steering engine four leg units around
The angle (such as Fig. 7 B) of Z axis movement.
θxIt is the rotational angle according to Euler's angle formula leg around X-axis.
θyIt is the rotational angle according to Euler's angle formula leg around Y-axis.
θzIt is rotational angle according to Euler's angle formula leg about the z axis.
In the present invention, the angle that turns over when obtaining landing posture according to Euler's angle formula is denoted as：
WhereinFor the angular transformation matrix of any attitude to targeted attitude, pass through steering engine command information
Angle can obtain four limbs successively around the rotational angle θ of the sequential movements of X-axis → Y-axis → Z axisx,θy,θz。
Four leg units of quadruped robot are successively around the sequential movements of X-axis → Y-axis → Z axis by the expansion of Euler's angle formula
Mode determines that different expansion modes causes X, and the sequence of motion of tri- axis of Y, Z is different, then the rotational angle θ of sequential movementsx,θy,
θzIt is also different.The quadruped robot that the present invention designs first is rotated around X-axis, then is rotated around Y axis, is finally revolved about the z axis
Turn, be finally reached landing posture；Specifically Kinematic Decomposition is：
(A) quadruped robot is first made to be overturn around X-axis：
Quadruped robot is in any attitude, and four leg units are swung, and four leg units is made to be respectively positioned on same plane, are such as schemed
Shown in 5A, referred to as initial attitude, subsequent quadruped robot are overturn, and four leg units are lifted up simultaneously, as shown in Figure 5 B；
Subsequent two, left side leg unit does taper swinging momvement, two, the right leg unit around the line of Q1Q2 relative to trunk ontology 1 simultaneously
Taper swinging momvement is done relative to trunk ontology 1 around the line of Q3Q4 simultaneously, and the taper swinging momvement of four leg units is to synchronize together
Direction；According to conservation of angular momentum principle, trunk ontology 1 will towards the direction opposite with the taper swinging momvement of four leg units around
X-axis rotates θxAngle to the posture prepared around Y-axis rotation, it is achieved thereby that robot it is whole around X-axis flip-flop movement.
In X-axis switching process, in the case where no external force acts on, the conservation of angular momentum of entire robot, leg unit and trunk
Ontology 1 should be constant always around the angular momentum of X-axis rotation, and angular momentum is denoted as 0 in the initial state, therefore quadruped robot exists
Around X-axis rotate during angular momentum be always 0, the angular momentum of X-axis is surrounded by calculating four leg units with trunk ontology 1
The sum of, you can obtain the swivel angular speed of trunk ontology 1.
It is by angular speed of the trunk ontology 1 when the swivel angular speed in X-axis does taper swinging momvement with leg unit：
ω1Swivel angular speed for trunk ontology 1.
ω2Angular speed during taper swinging momvement is done for leg unit.
m1Quality for trunk ontology 1.
m2Quality for leg unit.
L is the length of leg unit.
A is the distance in the first joint and third joint.
R is the cross sectional radius of leg unit.
ψ is the pivot angle moved around X-axis.
J0' the rotary inertia rotated for trunk ontology 1 around X-axis.
Abbreviation formula (2) obtains formula (3)：
ω1=k ω2 (3)
In the formula (4) with letter k instead of
In the present invention, pass through required angle, θxAnd requirement in time txThe interior rotation completed around X-axis, can calculate
Rotational angular velocity ω needed for trunk ontology 11, i.e.,According to ω1With ω2Calculation formula, can obtainIts
His parameter is given quantity, can calculate ω2Numerical value, and the taper swinging momvement of leg unit is by each leg unit
Synthesized by swing of two steering engines in orthogonal directions, therefore the swing angle of two steering engines and the control law of time should
Respectively SIN function and cosine function.
By the ω of taper swinging momvement2The angle change function of one group of steering engine is decomposed into, by taking leg unit 11A as an example, initial
The rotational angle of posture steering engine 10A, 10B are formula (4) and (5), and the rotational angle rule of posture steering engine 10A, 10B are referring to Fig. 5 C
It is shown.
θ10ARotational angle for A steering engines 10A.
θ10BRotational angle for B steering engines 10B.
ψ is the pivot angle moved around X-axis.
θxIt is the rotational angle according to Euler's angle formula leg around X-axis.
T is posture time when quadruped robot is maintained at same plane.
txFor quadruped robot around X-axis be rocked to landing posture when time.
It is 0 in the rotational angle of initial attitude steering engine 10A, 10B by taking leg unit 11A as an example, and enters from initial attitude
During taper swinging momvement, steering engine 10B is lifted up to angle ψ (being in figure 5B 45 degree), and subsequent steering engine 10A is proceeded by
The swing of above-mentioned SIN function, steering engine 10B proceed by the swing of above-mentioned cosine function, they have synthesized the circle of leg unit
Conical pendulm is moved (at the first time since 0), turns θ when trunk ontology 1 reaches around X axis rotation anglesxDuring angle, steering engine stops fortune
It moves and returns to 0 degree of position, the taper swinging momvement of leg unit stops, and according to the conservation of angular momentum, the rotation of trunk ontology 1 also stops therewith
Only, four leg units are returned to and are respectively positioned on conplane posture, trunk ontology 1 is so far completed and rotates θ around X-axisxThe purpose of angle.
Subsequent robot is prepared to enter into next stage and (rotates θ around Y-axisyAngle) adjusting stage, four leg units at this time
It is respectively positioned on same plane and is parallel to X-axis, need for leg unit to be rocked to the posture for being respectively positioned on same plane and being parallel to Y axis.
Due to the symmetry of robot architecture's design, it realize move around X-axis and around Y-axis when, the used characteristics of motion and four
Leg cell layout is similar.Therefore in the case of Fig. 5 (four leg units are arranged along X-axis), four leg units are connected with ontology
Steering engine respectively clockwise, be rotated by 90 ° posture with regard to Fig. 6 (four leg units are arranged along Y-axis) can be obtained counterclockwise.Due to setting
The symmetry of meter, when doing 90 degree of rotations, the barycenter of entire quadruped robot will not move four leg units of robot.
Leg unit reaches the posture shown in Fig. 6, Fig. 6 A after 90 degree of rotations.
(B) and then robot is made to be rotated around Y-axis：
As shown in Fig. 6, Fig. 6 A, trunk ontology 1 and four leg units tile, and four leg units are parallel to Y-axis.Such as Fig. 6 B
Shown, four leg units are lifted up simultaneously；Subsequent two, left side leg unit does taper swinging momvement around the line of Q1Q3 simultaneously, right
Two, side leg unit does taper swinging momvement around the line of Q2Q4 simultaneously, and the taper swinging momvement of four leg units be synchronize it is equidirectional
's；According to conservation of angular momentum principle, trunk ontology 1 will be towards the direction opposite with the taper swinging momvement of four leg units around Y-axis
Rotate θyAngle is to the initial attitude 3 prepared around Z axis rotation, and four leg units are downwards such as Fig. 4 pages at this time.
Attitudes vibration around Y-axis overturning is similar with the change procedure around X-axis, but since four leg units are rotated around Y-axis
By 90 degree rotations during adjustment campaign before, therefore swivel angular speed of the trunk ontology 1 in Y-axis and leg unit do conical pendu0
It is identical on angular speed and X-axis during movement, the difference lies in trunk ontologies 1 to surround the rotary inertia of Y axis rotation not
Together.
When being overturn around Y-axis, taper swinging momvement is decomposed into the angle change function of one group of steering engine, using leg unit 11A as
Example, initial attitude steering engine 10A, 10B rotational angle for formula (6) and (7), the angle of rotation metric of posture steering engine 10A, 10B
Rule is referring to shown in Fig. 6 C.
θ10ARotational angle for A steering engines 10A.
θ10BRotational angle for B steering engines 10B.
β is the pivot angle moved around Y-axis.
θyIt is the rotational angle according to Euler's angle formula leg around Y-axis.
T is posture time when quadruped robot is maintained at same plane.
tyFor quadruped robot around Y-axis be rocked to landing posture when time.
It is respectively 90 degree and 0 degree in the rotational angle of initial attitude steering engine 10A, 10B by taking leg unit 11A as an example, and from
During initial attitude enters taper swinging momvement, steering engine 10B is lifted up to angle beta (in figure Fig. 6 B be 45 degree), then
Start the taper swinging momvement (time is since 0) of leg unit, turn θ when trunk ontology 1 reaches around Y-axis rotation angleyDuring angle,
Steering engine stop motion simultaneously returns to 0 or 90 degree of position (by taking leg unit 11A as an example, steering engine 10A, 10B returns to 90 degree and 0 respectively
Degree), the taper swinging momvement of leg unit stops, and according to the conservation of angular momentum, the rotation of trunk ontology 1 also stops therewith, returns to four
Leg unit is respectively positioned on conplane posture, so far completes trunk ontology 1 and rotates θ around Y-axisyThe purpose of angle.
Subsequent robot is prepared to enter into next stage and (rotates θ about the z axiszAngle) adjusting stage, four leg units at this time
It is respectively positioned on same plane and is parallel to Y-axis, need leg unit being rocked to each parallel to Z axis, and two leg units are upward, two
A leg unit posture directed downwardly.Due to the symmetry of robot architecture's design, four leg units of robot are upward respectively, downward
During swing, the barycenter of entire quadruped robot will not move.Leg unit reaches after 90 degree of rotations shown in Fig. 7, Fig. 7 A
Posture.
(C) finally robot is made to be rotated about the z axis：
Trunk ontology 1 tiles as shown in Fig. 7, Fig. 7 A, and two leg units are upward, and two leg units are downward, and four leg lists
Member is each parallel to Z axis.As shown in Figure 7 B, four leg units deflect simultaneously；Subsequent four leg units are respectively simultaneously around respective mistake
Hinge centres point and the straight line parallel with Z axis do taper swinging momvement, the taper swinging momvement of four leg units be synchronize it is equidirectional；
According to conservation of angular momentum principle, trunk ontology 1 will about the z axis be rotated towards the direction opposite with the taper swinging momvement of four leg units
θzAngle, when trunk ontology 1 rotates θ around Z axiszDuring angle, leg unit stops taper swinging momvement, then returns to simultaneously parallel
In Z axis, and two leg units are upward, two leg unit postures directed downwardly, and then two upward leg units are to lower swing 180
Degree, it is identical with two leg unit directions under being directed toward, robot is made to adjust to landing posture, four leg units are downwards as schemed at this time
It page 4, is ready to meet landing.
When overturning about the z axis, taper swinging momvement is decomposed into the angle change function of one group of steering engine, using leg unit 11A as
Example, initial attitude steering engine 10A, 10B rotational angle for formula (8) and (9), the angle of rotation metric of posture steering engine 10A, 10B
Rule is referring to shown in Fig. 7 C.
θ10ARotational angle for A steering engines 10A.
θ10BRotational angle for B steering engines 10B.
For the pivot angle moved about the z axis.
θzIt is rotational angle according to Euler's angle formula leg about the z axis.
T is posture time when quadruped robot is maintained at same plane.
tzIt is rocked to time during landing posture about the z axis for quadruped robot.
By taking leg unit 11A as an example, need to be lifted up in initial attitude leg unit 11A, thus it is initial when steering engine 10A rotations
Angle is 0 degree, and the rotational angle of 10B is 90 degree, and from during initial attitude enters taper swinging momvement, steering engine 10B is deflected
To angle(being in figure 7b 135 degree) then begins to the taper swinging momvement (time is since 0) of leg unit, when trunk ontology 1
Rotation angle, which reaches, about the z axis turns θzDuring angle, steering engine stop motion and return to 0 or 90 degree position (by taking leg unit 11A as an example,
Steering engine 10A, 10B return to 0 degree and 90 degree respectively), the taper swinging momvement of leg unit stops, according to the conservation of angular momentum, trunk ontology 1
Rotation also stop therewith, then leg unit upward by swing, reach the posture being directed downward, by taking leg unit 11A as an example,
Steering engine 10A angles are constant for 0 degree, and steering engine 10B is rocked to -90 degree from 90 degree.So far robot is adjusted from any attitude to finger
Determine posture, i.e. trunk ontology 1 tiles, the landing posture of four leg units vertically downward.
Claims (7)
1. a kind of quadruped robot air posture adjusting method, it is characterised in that：Quadruped robot is in any attitude, and then four
A leg unit is swung, and four leg units is made to be respectively positioned on same plane；Existed by measuring trunk ontology at this time relative to landing posture
Angle on tri- axis of X, Y, Z is decomposed into the angle of rotation turned successively around the sequential movements of X-axis → Y-axis → Z axis by Euler's angle formula
Spend θx,θy,θz；In X, Y, Z axis switching process, in the case where no external force acts on, the conservation of angular momentum of entire robot, leg unit
Should be constant always around the angular momentum of X-axis rotation with trunk ontology, and angular momentum is 0 in the initial state, therefore four-footed machine
People's angular momentum during being pivoted is always 0, by calculating angular motion of four leg units with trunk ontology around axis respectively
The sum of amount, you can trunk ontology is calculated respectively turns angular speed around X, Y, Z.
2. the quadruped robot air posture adjusting method according to claims 1, it is characterised in that：Trunk ontology turns
Angular speed when body angular speed does taper swinging momvement with leg unit is：
ω1Swivel angular speed for trunk ontology 1；
ω2Angular speed during taper swinging momvement is done for leg unit；
m1Quality for trunk ontology 1；
m2Quality for leg unit；
L is the length of leg unit；
A is the distance in the first joint and third joint；
R is the cross sectional radius of leg unit；
ψ is the pivot angle moved around X-axis；
J0' the rotary inertia rotated for trunk ontology 1 around X-axis.
3. the quadruped robot air posture adjusting method according to claims 1, it is characterised in that：The circular cone of leg unit
The angle change function that pendular motion is decomposed into one group of steering engine has：
θ10ARotational angle for A steering engines 10A；
θ10BRotational angle for B steering engines 10B；
ψ is the pivot angle moved around X-axis；
β is the pivot angle moved around Y-axis；
For the pivot angle moved about the z axis；
θxIt is the rotational angle according to Euler's angle formula leg around X-axis；
θyIt is the rotational angle according to Euler's angle formula leg around Y-axis；
θzIt is rotational angle according to Euler's angle formula leg about the z axis；
T is posture time when quadruped robot is maintained at same plane；
txFor quadruped robot around X-axis be rocked to landing posture when time；
tyFor quadruped robot around Y-axis be rocked to landing posture when time；
tzIt is rocked to time during landing posture about the z axis for quadruped robot.
4. it can realize that a kind of aerial any attitude of 1 gesture stability of claims extremely lands the self-adjusting four-footed machine of posture
People, it is characterised in that：Quadruped robot is by trunk ontology (1), left fore (2), left hind (3), right fore (4), right hind
(5), the first joint frame (6), second joint frame (7), third joint frame (8), the 4th joint frame (9) and (8) a steering engine are formed；
Wherein, left fore (2), left hind (3), right fore (4) are identical with the structure of right hind (5)；
Wherein, the first joint frame (6), second joint frame (7), third joint frame (8) are identical with the structure of the 4th joint frame (9)；
Wherein, (8) a steering engine refer to A steering engines (10A), B steering engines (10B), C steering engines (10C), D steering engines (10D), E steering engines (10E),
F steering engines (10F), G steering engines (10G) and H steering engines (10H)；
Left front leg unit (11A) is made of left fore (2), the first joint frame (6) and two steering engines (10A, 10B)；Trunk ontology
(1) A steering engines (10A) are installed between AA support arms (1A) and the first joint frame (6), the first joint frame (6) and left fore (2) it
Between B steering engines (10B) are installed；The A steering wheels (10A1) of A steering engines (10A) are fixed on the AA rudders of the AA support arms (1A) of trunk ontology (1)
In dish groove (1A1), the housing of A steering engines (10A) is fixed in the A steering engines chamber (6B) of the first joint frame (6)；The B of B steering engines (10B)
Steering wheel (10B1) is fixed in the B steering wheels slot (6A1) of the BA support arms (6A) of the first joint frame (6), and the housing of B steering engines (10B) is consolidated
It is scheduled in the B steering engines chamber (2A1) of left fore (2)；
Left back leg unit (11B) is made of left hind (3), second joint frame (7) and two steering engines (10C, 10D)；Trunk ontology
(1) C steering engines (10C) are installed between AB support arms (1B) and second joint frame (7), second joint frame (7) and left hind (3) it
Between D steering engines (10D) are installed；The C steering wheels (10C1) of C steering engines (10C) are fixed on the AB rudders of the AB support arms (1B) of trunk ontology (1)
In dish groove (1B1), the housing of C steering engines (10C) is fixed in the C steering engines chamber (7B) of second joint frame (7)；The D of D steering engines (10D)
Steering wheel (10D1) is fixed in the D steering wheels slot (7A1) of the BB support arms (7A) of second joint frame (7), and the housing of D steering engines (10D) is consolidated
It is scheduled in the D steering engines chamber (3A1) of left hind (3)；
Right front leg unit (11C) is made of right fore (4), third joint frame (8) and two steering engines (10E, 10F)；Trunk ontology
(1) E steering engines (10E) are installed between AC support arms (1C) and third joint frame (8), third joint frame (8) and right fore (4) it
Between F steering engines (10F) are installed；The E steering wheels (10E1) of E steering engines (10E) are fixed on the AD rudders of the AD support arms (1D) of trunk ontology (1)
In dish groove (1D1), the housing of E steering engines (10E) is fixed in the E steering engine chambers 8B of third joint frame (8)；The F rudders of F steering engines (10F)
Disk (10F1) is fixed in the F steering wheels slot (8A1) of the BC support arms (8A) of third joint frame (8), and the housing of F steering engines (10F) is fixed
In the F steering engines chamber (4A1) of right fore (4)；
Right rear leg unit (11D) is made of right hind (5), the 4th joint frame (9) and two steering engines (10G, 10H)；Trunk ontology
(1) G steering engines (10G) are installed between AD support arms (1D) and the 4th joint frame (9), the 4th joint frame (9) and right hind (5) it
Between H steering engines (10H) are installed；The G steering wheels (10G1) of G steering engines (10G) are fixed on the AC rudders of the AC support arms (1C) of trunk ontology (1)
In dish groove (1C1), the housing of G steering engines 10G is fixed in the G steering engines chamber (9B) of the 4th joint frame (9).The H rudders of H steering engines (10H)
Disk 10H1 is fixed in the H steering wheels slot (9A1) of the BD support arms (9A) of the 4th joint frame (9), and the housing of H steering engines (10H) is fixed on
In the H steering engines chamber (5A1) of right hind (5).
It is central through hole (1G) in the middle part of trunk ontology (1), steering gear control system is fixed in the central through hole (1G)；Trunk
Reinforcing rib there are four being set between plate (1E) and lower panel (1F) above ontology (1)；By symmetrical and vertical two-by-two on lower panel 1F
If there are four support arms, i.e. AA support arms (1A), AB support arms (1B), AC support arms (1C) and AD support arms (1D)；
The steering wheel of A steering engines (10A), A steering engines are installed in the AA steering wheels slot (1A1) on the AA support arms (1A) of trunk ontology (1)
The housing of (10A) is mounted in the A steering engines chamber (6B) of the first joint frame (6)；
The steering wheel of C steering engines (10C), C steering engines are installed in the AB steering wheels slot (1B1) on the AB support arms (1B) of trunk ontology (1)
The housing of (10C) is mounted in the C steering engines chamber (7B) of second joint frame (7)；
The steering wheel of E steering engines (10E), E steering engines are installed in the AC steering wheels slot (1C1) on the AC support arms (1C) of trunk ontology (1)
The housing of (10E) is mounted in the E steering engines chamber (8B) of third joint frame (8)；
The steering wheel of G steering engines (10G), G steering engines are installed in the AD steering wheels slot (1D1) on the AD support arms (1D) of trunk ontology (1)
The housing of (10G) is mounted in the G steering engines chamber (9B) of the 4th joint frame (9)；
Left fore (2) one end is B steering engines chamber (2A), and left fore (2) other end is left front I-shaped foot body (2B)；
Left hind (3) one end is D steering engines chamber (3A), and left hind (3) other end is left back I-shaped foot body (3B)；
Right fore (4) one end is F steering engines chamber (4A), and right fore (4) other end is I-shaped foot body (4B) before the right side；
Right hind (5) one end is H steering engines chamber (5A), and right hind (5) other end is I-shaped foot body (5B) behind the right side.
5. aerial any attitude according to claim 4 extremely lands the self-adjusting quadruped robot of posture, it is characterised in that：
Quadruped robot is to utilize the taper swinging momvement that two orthogonal steering engines of axis synthesize between four leg units and trunk ontology,
To realize the overturning of quadruped robot entirety.
6. aerial any attitude according to claim 4 extremely lands the self-adjusting quadruped robot of posture, it is characterised in that：
Satellite carrier is installed on the trunk ontology of quadruped robot.
7. aerial any attitude according to claim 4 extremely lands the self-adjusting quadruped robot of posture, it is characterised in that：
Spacecraft carrier is installed on the trunk ontology of quadruped robot.
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| CN109774814A (en) * | 2019-01-16 | 2019-05-21 | 浙江大学 | A kind of Multifeet walking robot foot structure for realizing feedback of contacting to earth |
| CN110153063A (en) * | 2019-06-06 | 2019-08-23 | 深圳怪虫机器人有限公司 | A kind of bridge type is worked continuously photovoltaic clean robot |
| CN110154008A (en) * | 2019-06-12 | 2019-08-23 | 杭星辰 | Snakelike/quadruped robot based on mimicry |
| CN112078685A (en) * | 2020-08-28 | 2020-12-15 | 哈尔滨工业大学（深圳） | Frog-back-leg-simulated posture regulating device, jumping robot and posture regulating method |
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