Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot

Miao Zhiying; Li Ruiqin; Zhang Qisheng; Liang Jingjing; Meng Hongwei; Liang Shijie

doi:10.16578/j.issn.1004.2539.2018.03.020

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Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot

更新时间：2022-10-20

- Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot
- Vol. 42, Issue 3, Pages: 90-93(2018)
- 作者机构：
  
  1. 中北大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.03.020
  CLC：
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[1]苗智英,李瑞琴,张启升,梁晶晶,孟宏伟,梁世杰.3-PUU轮腿式移动机器人的步态与稳定性分析[J].机械传动,2018,42(03):90-93.

Miao Zhiying, Li Ruiqin, Zhang Qisheng, et al. Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot. [J]. 42(3):90-93(2018)
[1]苗智英,李瑞琴,张启升,梁晶晶,孟宏伟,梁世杰.3-PUU轮腿式移动机器人的步态与稳定性分析[J].机械传动,2018,42(03):90-93. DOI： 10.16578/j.issn.1004.2539.2018.03.020.

Miao Zhiying, Li Ruiqin, Zhang Qisheng, et al. Gait and Stability Analysis of 3-PUU Wheel-legged Mobile Robot. [J]. 42(3):90-93(2018) DOI： 10.16578/j.issn.1004.2539.2018.03.020.

摘要

轮腿式机器人兼具轮式的移动速度快和腿式的越障能力强的优势,是新型移动机器人的发展方向。提出了一种基于3-PUU并联机构的轮腿式移动机器人,其具有并联机构的结构简单、刚度大、承载能力强等优势。对3-PUU轮腿式移动机器人的腿式行走步态进行了分析,阐述了轮腿切换原理以及轮式模式下的转向原理。通过重心计算,分析了该机器人在路面上运动的稳定性,确定了最大步长。利用三次样条插值法推导出了平台的运动轨迹方程,并在Matlab环境下进行仿真,得到平台的位移、速度、加速度变化规律。仿真结果表明,该机器人可实现连续稳定的行走,可用于煤矿井下等危险环境的救援任务。

Abstract

The wheel-legged robot has the advantages of fast moving velocity of wheeled robot and strong passing obstacle capability of legged robot,and it is the development direction of new type mobile robot. A kind of wheel-legged mobile robot based on 3-PUU parallel mechanism is presented. It has advantages of simple structure,high stiffness and strong carrying capacity. The leg walking gait of 3-PUU wheel-legged mobile robot is analyzed. The wheel and leg switch principle and the steering principle under wheel type mode are explained.The stability of robot moving on the road surface is analyzed according to the calculation of gravity,and the maximum step is determined. The trajectory equation is derived by using three spline interpolation and the variation rules of displacement,velocity and acceleration are obtained by using Matlab software. The simulation results show that the robot can achieve continuous and stable walking. The robot can be used in the rescue tasks such as underground coal mines and other dangerous environments.

关键词

移动机器人轮腿式机器人3-PUU步态稳定性

Keywords

Mobile robotWheel-legged robot3-PUUGaitStability

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