CN117775323A - Air suspension simulation experiment system and method for robot motion under weak gravitational field - Google Patents
Air suspension simulation experiment system and method for robot motion under weak gravitational field Download PDFInfo
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- CN117775323A CN117775323A CN202410201824.9A CN202410201824A CN117775323A CN 117775323 A CN117775323 A CN 117775323A CN 202410201824 A CN202410201824 A CN 202410201824A CN 117775323 A CN117775323 A CN 117775323A
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- 239000000725 suspension Substances 0.000 title claims abstract description 65
- 238000004088 simulation Methods 0.000 title claims abstract description 51
- 230000033001 locomotion Effects 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000002474 experimental method Methods 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000000007 visual effect Effects 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 abstract description 14
- 230000001788 irregular Effects 0.000 abstract description 2
- 230000003028 elevating effect Effects 0.000 description 6
- 230000036544 posture Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses an air suspension simulation experiment system and method for robot movement under weak gravity field, belonging to the technical field of weak gravity ground accurate simulation, comprising an experiment platform, a high-speed reduction ratio lifting mechanism, a high-precision vision measurement camera and a camera mounting bracket, wherein the high-precision vision measurement camera is arranged at the top of the camera mounting bracket, the camera mounting bracket is arranged at the outer side of the experiment platform, and the experiment platform is arranged above the high-speed reduction ratio lifting mechanism; the experimental platform is provided with planetary simulation ground, gas suspension bearing structure and quadruped robot in the top, and gas suspension bearing structure keeps away from experimental platform one end and is connected with the quadruped robot, and planetary simulation ground parallel arrangement is kept away from gas suspension bearing structure's one side at the quadruped robot. The invention can simulate the irregular weak gravitation of the quadruped robot in the asteroid environment and the contact collision process with the planetary-like surface, and accurately simulate the motion state of the quadruped robot in the motion process, acquire data and visualize the motion state.
Description
Technical Field
The invention belongs to the technical field of weak gravity ground accurate simulation, and particularly relates to an air suspension simulation experiment system and method for robot motion under a weak gravity field.
Background
In recent years, with the development of asteroid detection plans of various countries, detection tasks of extraterrestrial celestial bodies are also continuously carried out on schedules in China. In the task of detecting sports by a small celestial body, a large number of ground physical simulation tests need to be carried out. The current mature weak gravitational field simulation methods are respectively as follows: inertial compensation method, neutral buoyancy zero gravity simulation method, mechanical suspension simulation method, and air suspension simulation method.
The inertial compensation method has higher implementation cost and limited duration. The mechanical suspension method can simulate the zero gravity state on each shaft, and has the advantages of simple structure, low cost, strong adaptability and the like, so that the mechanical suspension method is widely applied, but the test precision of the mechanical suspension method is still to be improved. The plane air suspension method forms an air film between the effective load turntable and the air suspension platform through a plurality of groups of plane thrust air cushions, so that friction-free movement is realized, the implementation is easy, the experimental duration is not limited, and the error is larger. In the existing method, the integration level of a zero gravity simulation system and a micro-low gravity simulation system is low, and consideration of the universality construction of the zero gravity simulation system and the micro-low gravity simulation system is lacking.
Disclosure of Invention
The invention aims to provide an air suspension simulation experiment system and method for robot movement under a weak gravitational field, and solves the problems of large error and low precision of the existing weak gravitational field simulation method in the prior art.
In order to achieve the above purpose, the invention provides an air suspension simulation experiment system for robot movement under a weak gravitational field, which comprises an experiment platform, a high-speed reduction ratio lifting mechanism, a high-precision vision measurement camera and a camera mounting bracket, wherein the high-precision vision measurement camera is arranged at the top of the camera mounting bracket, the camera mounting bracket is arranged at the outer side of the experiment platform, and the experiment platform is arranged above the high-speed reduction ratio lifting mechanism; the experimental platform is characterized in that a planetary simulation ground, an air suspension supporting structure and a quadruped robot are arranged above the experimental platform, one end of the air suspension supporting structure, which is far away from the experimental platform, is connected with the quadruped robot, and the planetary simulation ground is arranged on one side, which is far away from the air suspension supporting structure, of the quadruped robot in parallel and is used for simulating the movement of the quadruped robot or the star-surface tour process in a weak gravity environment.
Preferably, the quantity of high speed reduction ratio elevating system sets up to four groups, four groups high speed reduction ratio elevating system all includes the slider, sets up the screw seat of slider below, connect screw seat one side lead screw and set up the lead screw is kept away from the high speed reduction ratio motor of screw seat one end, screw seat upper surface is provided with the gradient, realizes the moment conduction to the lead screw through high speed reduction ratio motor, makes screw seat left or right motion, because screw seat upper surface has certain inclination, and then to slider conduction ascending thrust, and then support experiment platform, high speed reduction ratio elevating system carries out the calibration fine setting to experiment platform's inclination according to the gravitation numerical value of required simulation to ensure the precision of simulation.
Preferably, the air suspension supporting structure comprises a clamp, a C-shaped frame arranged at one end of the clamp, a rotating bearing arranged at one end of the C-shaped frame away from the clamp, an air suspension disc arranged at one end of the C-shaped frame away from the rotating bearing, and an air cylinder arranged on the air suspension disc, wherein after the air cylinder is opened, friction-free movement of the four-foot robot and the air suspension supporting frame on the plane of the experimental platform is realized, and movement under the environment of a weak gravitational field is simulated on the experimental platform.
Preferably, the number of the high-precision vision measurement cameras is eight, the eight high-precision vision measurement cameras are in wireless connection with the quadruped robot, the motion of the quadruped robot on the experimental platform is recorded, and the measurement numbers of the positions and the postures are fed back to the quadruped robot in real time by utilizing communication, so that various closed-loop feedback control methods can be deployed on the quadruped robot.
Preferably, 5 visual target points are installed on the air suspension supporting structure, the high-precision visual measuring camera is started, communication between the high-precision visual measuring camera and the quadruped robot is established, the air suspension supporting structure is placed at an initial coordinate position on the experimental platform, and the air bottle is started to start an experiment.
The invention also provides a method for the air suspension simulation experiment of the robot motion under the weak gravitational field, which comprises the following steps:
step 1, modeling gravitational field data of the surface of a target celestial body to be simulated to obtain required experimental gravitational data;
step 2, calculating the inclination angle of the experimental platform according to the experimental gravitation value;
step 3, controlling four high-reduction-ratio lifting devices below the platform, and adjusting the inclination angle of the platform to an expected value;
step 4, the quadruped robot is installed on an air suspension supporting structure in a side-standing mode, the foot ends of the quadruped robot interact with the planet simulation ground on an experimental platform, and the motion process of the quadruped robot under a weak gravitational field is simulated on the experimental platform;
step 5, placing 5 visual target points on the air suspension supporting structure, starting a high-precision visual measurement camera array, and measuring and acquiring position and posture information of the four-foot robot on the experimental platform;
step 6, placing the air suspension supporting structure at a designated position on an experimental platform, preparing to start a motion simulation experiment, and starting a motion control program on the quadruped robot;
and 7, opening a gas cylinder positioned at the bottom of the gas suspension supporting structure to supply gas for the gas floating disc, and eliminating friction resistance between the whole quadruped robot and the experimental platform.
Therefore, the invention adopts the air suspension simulation experiment system and method for robot movement under weak gravitational field, adopts a speed reduction lifting mechanism with higher precision to realize automatic continuous adjustment, and can simulate the variable gravitational field of irregular asteroid; the simulation precision of the continuous gravitational field is higher; in addition, in the motion process, the quadruped robot and the ground possibly have multiple contact collisions, the impact load can cause larger errors on the vertical weak gravity simulation system, the high-rigidity fixed vertical simulation ground is adopted in the inclined air floating platform experimental scheme, and the gravity numerical simulation precision is less influenced by the impact load, so that the test precision is improved.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of an air suspension simulation experiment system for robot motion in weak gravitational field of the present invention;
FIG. 2 is a schematic diagram of a high reduction ratio lifting mechanism according to the present invention;
FIG. 3 is a diagram showing the working state of the air suspension simulation experiment system of the robot motion under weak gravitational field;
FIG. 4 is a schematic view of the structure of the air suspension support structure of the present invention;
wherein, 1, an experiment platform; 2. an air suspension support structure; 21. a clamp; 22. a C-shaped frame; 23. a rotating bearing; 24. a gas cylinder; 25. an air floating disc; 3. a quadruped robot; 4. a camera mounting bracket; 5. a high-precision vision measurement camera; 6. the planet simulates the ground; 7. a high reduction ratio lifting mechanism; 71. a slide block; 72. a high reduction ratio motor; 73. a nut seat; 74. and a screw rod.
Detailed Description
The following detailed description of the embodiments of the invention, provided in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-4, an air suspension simulation experiment system for robot motion under weak gravitational field comprises an experiment platform 1, a high reduction ratio lifting mechanism 7, a high-precision vision measurement camera 5 and a camera mounting bracket 4, wherein the high-precision vision measurement camera 5 is arranged at the top of the camera mounting bracket 4, the camera mounting bracket 4 is arranged at the outer side of the experiment platform 1, and the experiment platform 1 is arranged above the high reduction ratio lifting mechanism 7; the experimental platform 1 is provided with planetary simulation ground 6, air suspension supporting structure 2 and four-foot robot 3 above, and air suspension supporting structure 2 keeps away from experimental platform 1 one end and is connected with four-foot robot 3, and planetary simulation ground 6 parallel arrangement is in four-foot robot 3 one side that is away from air suspension supporting structure 2 for four-foot robot motion or star table tour process in the weak gravity environment of simulation. The quantity of high speed reduction ratio elevating system 7 sets up into four groups, four high speed reduction ratio elevating system 7 all include slider 71, set up the screw seat 73 in the slider 71 below, connect the lead screw 74 in screw seat 73 one side and set up the high speed reduction ratio motor 72 of keeping away from screw seat 73 one end at lead screw 74, screw seat 73 upper surface is provided with the gradient, realize torque transmission through high speed reduction ratio motor 72 to lead screw 74, make screw seat 73 left or right motion, because screw seat 73 upper surface has certain inclination, and then upwards thrust to slider 71 conduction, and then support experiment platform 1, high speed reduction ratio elevating system 7 carries out the calibration fine setting to experiment platform 1's inclination according to the gravitation numerical value of required simulation automatically, in order to ensure the precision of simulation. The eight high-precision vision measurement cameras 5 are arranged, the eight high-precision vision measurement cameras 5 are in wireless connection with the quadruped robot 3, the motion of the quadruped robot 3 on the experimental platform 1 is recorded, and the measurement numbers of the positions and the postures are fed back to the quadruped robot 3 in real time by utilizing communication, so that various closed-loop feedback control methods can be deployed on the quadruped robot 3. The air suspension supporting structure 2 comprises a clamp 21, a C-shaped frame 22 arranged at one end of the clamp 21, a rotary bearing 23 arranged at one end of the C-shaped frame 22 far away from the clamp 21, an air floating disc 25 arranged at one end of the rotary bearing 23 far away from the C-shaped frame 22 and an air bottle 24 arranged on the air floating disc 25, after the air bottle 24 is opened, friction-free movement of the four-foot robot 3 and the air suspension supporting frame on the plane of the experiment platform 1 is realized, movement under the weak gravitational field environment is simulated on the experiment platform 1, and a machine body part of the four-foot robot 3 is fixedly connected with the air suspension supporting structure 2 through the clamp 21; the leg movement space of the robot is avoided while the quadruped robot 3 is supported and lifted to the working height by the C-shaped frame 22, so that the legs of the robot can move freely; the rotational freedom between the robot and the air floating disc 25 is increased through the rotary bearing 23, so that the influence of inertia of the air floating disc 25 on the rotational motion of the robot can be effectively eliminated; the robot gas suspension support structure 2 is supplied with gas via a gas cylinder 24. 5 visual target points are arranged on the air suspension supporting structure 2, the high-precision visual measuring camera 5 is started, communication between the high-precision visual measuring camera 5 and the quadruped robot 3 is established, the air suspension supporting structure 2 is placed at the initial coordinate position on the experimental platform 1, and the air bottle 24 is started to start the experiment.
A method for an air suspension simulation experiment of robot motion under weak gravitational field comprises the following steps:
step 1, modeling gravitational field data of the surface of a target celestial body to be simulated to obtain required experimental gravitational data;
step 2, calculating the inclination angle of the experimental platform according to the experimental gravitation value;
step 3, controlling four high-reduction-ratio lifting devices below the platform, and adjusting the inclination angle of the platform to an expected value;
step 4, the quadruped robot is installed on an air suspension supporting structure in a side-standing mode, the foot ends of the quadruped robot interact with the planet simulation ground on an experimental platform, and the motion process of the quadruped robot under a weak gravitational field is simulated on the experimental platform;
step 5, placing 5 visual target points on the air suspension supporting structure, starting a high-precision visual measurement camera array, and measuring and acquiring position and posture information of the four-foot robot on the experimental platform;
step 6, placing the air suspension supporting structure at a designated position on an experimental platform, preparing to start a motion simulation experiment, and starting a motion control program on the quadruped robot;
and 7, opening a gas cylinder positioned at the bottom of the gas suspension supporting structure to supply gas for the gas floating disc, and eliminating friction resistance between the whole quadruped robot and the experimental platform.
Therefore, the invention adopts the gas suspension simulation experiment system and method for robot movement under weak gravitational field, adopts a speed reduction lifting mechanism with higher precision to realize automatic continuous adjustment, and has higher simulation precision for continuous gravitational field; meanwhile, the accurate position and the gesture of the quadruped robot on the experimental platform are observed through a visual measurement method, low-delay communication between the measurement equipment and the quadruped robot is established, feedback control is realized, and the motion state, collision contact force and the like of the quadruped robot in the motion process are accurately simulated, and key data are acquired and visualized.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (4)
1. An air suspension simulation experiment system for robot movement under weak gravitational field is characterized in that: the high-precision vision measurement camera is arranged at the top of the camera mounting bracket, the camera mounting bracket is arranged at the outer side of the experiment platform, and the experiment platform is arranged above the high-reduction ratio lifting mechanism; the experimental platform is characterized in that a planetary simulated ground, an air suspension supporting structure and a four-foot robot are arranged above the experimental platform, one end, far away from the experimental platform, of the air suspension supporting structure is connected with the four-foot robot, and the planetary simulated ground is arranged on one side, far away from the air suspension supporting structure, of the four-foot robot in parallel;
the number of the high-speed reduction ratio lifting mechanisms is four, the four high-speed reduction ratio lifting mechanisms comprise sliding blocks, screw bases arranged below the sliding blocks, screw rods connected to one sides of the screw bases and high-speed reduction ratio motors arranged at one ends of the screw rods, which are far away from the screw bases, and the upper surfaces of the screw bases are provided with inclination;
the air suspension supporting structure comprises a clamp, a C-shaped frame arranged at one end of the clamp, a rotary bearing arranged at one end of the C-shaped frame away from the clamp, an air floating disc arranged at one end of the C-shaped frame away from the rotary bearing, and an air cylinder arranged on the air floating disc.
2. The air suspension simulation experiment system for robot motion under weak gravitational field of claim 1, wherein: the high-precision vision measurement cameras are arranged in eight ways, and the eight high-precision vision measurement cameras are in wireless connection with the quadruped robot.
3. The air suspension simulation experiment system for robot motion under weak gravitational field of claim 2, wherein: and 5 visual target points are arranged on the air suspension supporting structure, the high-precision visual measuring camera is started, the communication between the high-precision visual measuring camera and the quadruped robot is established, the air suspension supporting structure is arranged at the initial coordinate position on the experimental platform, and the air bottle is started to start the experiment.
4. The method for the air suspension simulation experiment of the robot motion under the weak gravitational field is characterized by comprising the following steps of:
step 1, modeling gravitational field data of the surface of a target celestial body to be simulated to obtain required experimental gravitational data;
step 2, calculating the inclination angle of the experimental platform according to the experimental gravitation value;
step 3, controlling four high-reduction-ratio lifting devices below the platform, and adjusting the inclination angle of the platform to an expected value;
step 4, the quadruped robot is installed on an air suspension supporting structure in a side-standing mode, the foot ends of the quadruped robot interact with the planet simulation ground on an experimental platform, and the motion process of the quadruped robot under a weak gravitational field is simulated on the experimental platform;
step 5, placing 5 visual target points on the air suspension supporting structure, starting a high-precision visual measurement camera array, and measuring and acquiring position and posture information of the four-foot robot on the experimental platform;
step 6, placing the air suspension supporting structure at a designated position on an experimental platform, preparing to start a motion simulation experiment, and starting a motion control program on the quadruped robot;
and 7, opening a gas cylinder positioned at the bottom of the gas suspension supporting structure to supply gas for the gas floating disc, and eliminating friction resistance between the whole quadruped robot and the experimental platform.
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