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Energy Margin Calculation Method of Multi-legged Robot Considering External Shock Disturbance and Damping

A multi-legged robot, impact interference technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems of poor timeliness and too few influencing factors

Active Publication Date: 2019-10-18
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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  • Energy Margin Calculation Method of Multi-legged Robot Considering External Shock Disturbance and Damping
  • Energy Margin Calculation Method of Multi-legged Robot Considering External Shock Disturbance and Damping
  • Energy Margin Calculation Method of Multi-legged Robot Considering External Shock Disturbance and Damping

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Embodiment Construction

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

[0070] Reference Figure 1 ~ Figure 5 , A calculation method for the energy margin of a multi-legged robot considering external force impact interference and damping. Taking a hexapod robot as an example, it includes the robot body and six mutually independent walking legs. The calculation method includes the following steps:

[0071] Step 1: Convert the turning 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 sideline is regarded as a mechanical rotating system, and the moment of inertia is J i , The torsional stiffness is K S And the viscous damping coefficient is C dampers.

[0075] 1.2) Solve the rea...

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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 robotics technology, it has been widely used in exploration, welding, space, handling, and services. The multi-legged robot is a complex mechatronics system. As the controlled object, it is a highly nonlinear, multi-variable, and multi-parameter coupling complex system, which makes it particularly difficult to control its stability. Therefore, the stability control of robots has become a hot issue in recent years. [0003] Compared with biped and quadruped robots, hexapod robots have a richer movement gait. In addition, the hexapod robot has redundant legs. When the robot is walking on complex roads, even when one or several legs fail, as long as three legs can maintain the supportin...

Claims

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Application Information

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Patent Type & Authority Patents(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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