可变结构体机器人多步态多相型运动机理研究

This project aimes at the needs for disaster relief and researches on the theory of multigaits and multistate variable robots. Design of the variable robots based on the "tensegrity" which is a novel stucture that have high strength-mass ratio and can be used to bulit lightweight robots to improve the efficiency of disaster relief. The variable robots process strong deformable ability to adapt to the disaster area and also have shock and compress resistance ability which can provide protection for the themselves. The project intends to design the optimal structure parameters for the variable robots, and proposes suitable initial configuration for producing multiple gaits; reasearches common predicition method for rolling gait, introduce the finite element method of strctural mechanics into force analysis and combine with torque analysis to achieve the rolling direcition of the forecast; researches generate method of creeping gait to achieve stable motion in rugged terrain, use optimization methods for planning the sequence of the drives and made multiple gait redundant control strategy to improve endurance capacity after the mechanical failure.Jumping and other kinds of gaits should be developed to improve complex terrain adaption ability, and selection policy of different deformation and gaits for different terrain should be proposed. Mechanical optimal design method and motion theory should be verified on the developed prototype of variable robot.

本项目面向灾难救援的需求，研究可变结构体机器人的多步态多相型运动机理。可变结构体机器人的设计基于"张拉整体结构"概念，具有高强度质量比，可制造轻量级机器人，提高灾后救援效率；可变形能力强，适应灾后复杂地形；具有一定抗震、抗压性，可为机器人自身提供保护。本项目拟重点研究可变结构体机器人的机构参数最优设计方法，提出最适合产生多重步态的初始机器人本体构型；研究滚动步态通用预测方法，将有限元思想引入结构力学分析，结合重力矩分析实现对滚动方向的预测；研究蠕动步态生成方法，以实现崎岖地形下的稳定运动，利用最优化方法对驱动器序列进行规划，并提出多步态冗余控制策略，提高机器人故障后的续航能力；研究跳跃及其他可能的步态以提高机器人复杂地形适应能力；研究针对不同地形的步态及构型转换策略。在原理样机上验证步态控制方法的有效性。

本项目针对六压杆可变结构体机器人多相型多步态运动机理展开研究。本课题提出了基于拓扑几何的构型选择方法和基于FEM有限元法的结构参数优化方法，为可变结构体机器人构型选择与结构参数优化提供了通用理论方法。提出了基于FEM的滚动方向控制方法和驱动参数优化方法，克服了张拉整体结构非线性、高耦合、多输入的难点，为滚动步态研究提供了通用理论研究方法。提出了基于GA遗传算法的蠕动步态控制方法，克服了张拉整体结构多输入、非线性、高耦合，且六压杆结构外形类似球形易发生滚动的难点，为六压杆可变结构体机器人蠕动步态研究提供了理论方法。搭建了高集成度、变形能力强、拉索全驱动样机，搭建了ODE，MATLAB/C++仿真平台，为理论验证提供必要条件。