基于动物尺度效应和足-地动力学机理的全地形重载六足机器人步行机构研究

It is an inevitable development of society that legged robot work instead of human in the environment that human cannot enter. Robot design that enlarge or shrink according to animal structure simply has been unable to meet the requirements. So, walking mechanism research based on animal's scale effect and foot-terrain dynamics has important significance. Animal scale effect is analyzed and characterized from mechanics angle, terrain adaptability mechanism of animal leg structure of different scales is revealed, and the mathematical model of the interaction between structure-motion-stress-energy-scale is established. The topology database of hexapod robot walking leg based on graph theory is built, and foot-terrain dynamic model under complex contact interface of foot and terrain is established. The sensitivity of the leg mechanism to its structure and scale parameters is analyzed, and the design method of multi-variable, multi-constraint and multi-target of walking mechanism configuration and scale is proposed. Test bench of single leg performance in different terrain is developed, single leg prototype of all-terrain heavy-duty hexapod robot is manufactured, and the performance of all-terrain heavy-duty hexapod robot walking mechanism is comprehensively evaluated and verified based on single leg performance experiments. The research ideas and methods belong to the original, the research results can be applied to the development of legged robots directly. The terrain adaptation ability and carrying capacity of legged robot can be improved, and energy consumption can be reduced. It is helpful to promote the development of legged robot working in complex and dangerous environment.

足式机器人在人类无法进入的环境中代替人类工作是社会发展的必然，按动物结构简单放大或缩小进行机器人设计已无法满足要求，基于尺度效应和足-地动力学机理进行步行机构研究具有显著意义。从力学和机械学角度进行动物尺度效应的解析与表征，揭示不同尺度动物腿足结构的地形适应性机理，建立结构-运动-力-能量-尺度之间相互作用的数学模型；基于图论建立六足机器人步行腿拓扑构型图谱库，建立复杂足地接触界面下的足地动力学模型，分析腿足机构性能对其结构和尺度等参数的敏感度，提出多变量多约束多目标腿足构型与尺度综合设计方法；开发单腿多地形性能测试台，研制全地形重载六足机器人单腿样件，基于单腿性能试验进行全地形重载六足机器人步行机构性能综合评估与验证。研究思路和方法属于首创，研究成果可直接应用于足式机器人研制，提高机器人地形适应能力和承载能力，降低能量消耗，有助于推动足式机器人在复杂危险环境作业的发展进程。

足式机器人在人类无法进入的环境中代替人类工作是社会发展的必然，按动物结构简单放大或缩小进行机器人设计已无法满足要求，基于尺度效应和足-地动力学机理进行步行机构研究具有显著意义。揭示了六足机器人的尺度效应机理，解析了六足机器人步行机构的地形适应性机理、高承载大附着高能效行走机理，建立了复杂足地接触界面下的足-地动力学模型，为机器人步行机构的仿生设计奠定基础。建立了六足机器人步行腿拓扑构型图谱库，分析了物理、几何、运动等参数对腿足机构运动特性的影响规律，实现了全地形重载六足机器人高承载、大附着、高能效腿足机构设计，搭建了六足机器人高保真仿真平台，实现了六足机器人步行机构的性能验证，为足式机器人移动系统研制提供借鉴。开发了机器人腿足机构的多地形性能测试台，研制了六足机器人单腿样件，构建了具有不同几何特征和不同物理特性的模拟地形，完成了单腿足-地动力学性能测试试验，验证了所提出方法的正确性、实用性和可行性，为足式机器人的性能提升和实际应用提供技术支持。相关研究成果可直接应用于足式机器人的研制，提高机器人地形适应能力和承载能力，降低能量消耗，有助于推动足式机器人在复杂危险环境作业的发展进程。