Gait Analysis and Trajectory Planning of Quadruped Wheel-legged Mobile Robot

Qing Li; Liting Zhao; Yuxi Feng; Rongshuai Liu; Peng Zhang

doi:10.16578/j.issn.1004.2539.2021.04.012

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Gait Analysis and Trajectory Planning of Quadruped Wheel-legged Mobile Robot

Design· Calculation | 更新时间：2022-11-10

- Gait Analysis and Trajectory Planning of Quadruped Wheel-legged Mobile Robot
- Journal of Mechanical Transmission Vol. 45, Issue 4, Pages: 69-74(2021)
- 作者机构：
  
  1.中北大学机械工程学院，山西太原 030051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.04.012
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李清,赵立婷,丰玉玺等.四足轮腿式移动机器人的步态分析及轨迹规划[J].机械传动,2021,45(04):69-74.

Li Qing,Zhao Liting,Feng Yuxi,et al.Gait Analysis and Trajectory Planning of Quadruped Wheel-legged Mobile Robot[J].Journal of Mechanical Transmission,2021,45(04):69-74.
李清,赵立婷,丰玉玺等.四足轮腿式移动机器人的步态分析及轨迹规划[J].机械传动,2021,45(04):69-74. DOI： 10.16578/j.issn.1004.2539.2021.04.012.

Li Qing,Zhao Liting,Feng Yuxi,et al.Gait Analysis and Trajectory Planning of Quadruped Wheel-legged Mobile Robot[J].Journal of Mechanical Transmission,2021,45(04):69-74. DOI： 10.16578/j.issn.1004.2539.2021.04.012.

摘要

针对外星复杂的地表环境，基于2-UPS/（S+SPR）R闭环并联机构，设计了一种四足轮腿式移动机器人。通过对比机器人在运动过程中的稳定裕度与重心调整量得到最优步态，利用ZMP法衡量了机器人在静步态下的稳定性，并用改进的复合摆线法规划了足端的运动轨迹。在整个运动过程中，机械腿运动平稳，速度、加速度变化较为平滑，不会出现对机械腿造成损坏的较强冲击；且在抬腿和着地瞬间，速度、加速度均为0，不会对机身产生冲击。分析结果表明，该四足轮腿式移动机器人运动灵活且平稳，适用于外太空的探测。

Abstract

A quadruped wheel-legged mobile robot based on 2-UPS/（S+SPR）R closed loop parallel mechanism is designed for the complex surface environment of aliens planet. The optimal gait is obtained by comparing the stability margin and the barycenter adjustment of the robot in the process of motion， the stability of the robot in the static gait is measured by ZMP method， and the trajectory of the foot end is planned by the improved compound cycloid method. In the whole movement process， the movement of the mechanical leg is stable and the change of speed and acceleration is relatively smooth， which would not cause damage to the mechanical leg due to strong impact. Besides， the speed and acceleration are zero at the moment of lifting the leg and landing， which would not impact the fuselage. The analysis results indicate that the quadruped wheel-legged mobile robot moves flexibly and smoothly， which is suitable for the exploration of outer space.

关键词

四足轮腿式机器人2-UPS/（S+SPR）R闭环并联机构步态分析轨迹规划

Keywords

Quadruped wheel-legged robot2-UPS/（S+SPR）R closed-loop parallel mechanismGait analysisTrajectory planning

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