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Multi-legged robot energy margin calculation method considering external force impact interference and damping

A technology of multi-legged robots and energy margin, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve the problems of too few influencing factors and poor timeliness

Active Publication Date: 2017-05-31
杭州宇芯机器人科技有限公司
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Problems solved by technology

[0005] Aiming at the problems of too few influencing factors or poor timeliness in the existing stability determination methods, the present invention proposes a multi-legged robot energy margin calculation method considering external force impact interference and damping

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  • Multi-legged robot energy margin calculation method considering external force impact interference and damping
  • Multi-legged robot energy margin calculation method considering external force impact interference and damping
  • Multi-legged robot energy margin calculation method considering external force impact interference and damping

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Embodiment Construction

[0069] The present invention will be further described below in conjunction with the accompanying drawings.

[0070] refer to Figure 1 to Figure 5 , a method for calculating the energy margin of a multi-legged robot considering external force impact interference and damping, taking a hexapod robot as an example, including a robot body and six mutually independent walking legs, the calculation method includes the following steps:

[0071] Step 1: Convert the overturning action of the robot into a mechanical rotation system including spring damping characteristics, and calculate the energy margin expression of the robot at this time;

[0072] 1.1) According to Newton's second law, the dynamic differential equation of the robot can be listed:

[0073]

[0074] Among them, the robot when flipping around the side line is regarded as a mechanical rotation system, and the system consists of a moment of inertia of J i , the torsional stiffness is K S and a damper with a viscous...

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Abstract

A multi-legged robot energy margin calculation method considering external force impact interference and damping comprises the following steps that step 1, the rotary movement of a robot is converted to a mechanical rotary system containing spring damping characteristics, and an energy margin expression of the robot is calculated; step 2, a D-H mathematical model under the Cartesian coordinate system is constructed; step 3, relevant parameters required by the energy margin of the robot is analyzed by combining the step 2. Obtained according to gravity position, virtual elastic damping and resultant moment, when the robot walks on complicated road the multi-legged robot energy margin calculation method considering external force impact interference and damping is finally used for judging whether or not the robot is likely to tumble under the effect of external force impact and self inertia moment in order to ensure that the robot walks steadily. Finally, a stable calculation method suitable for multiple terrains and aging is come up with.

Description

technical field [0001] The invention relates to the field of robot stability, in particular to a method for calculating the energy margin of a multi-legged robot considering external force impact interference and damping. Background technique [0002] In recent years, with the increasing maturity of robot technology, it has been widely used in exploration, welding, space, handling and service. A multi-legged robot is a complex mechatronic system. As the controlled object, it is a highly nonlinear, multi-variable, and multi-parameter coupled complex system, which makes it particularly difficult to control its stability. Therefore, the problem of robot stability control has become a hot research topic in recent years. [0003] The robot walks in the wild, and the hexapod robot has a richer movement gait than the biped and quadruped robots. Moreover, the hexapod robot has redundant legs. When the robot walks on complex road surfaces, even when one or more legs fail, as long ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 艾青林徐冬简燕梅
Owner 杭州宇芯机器人科技有限公司
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