CN103885446A - Doubleleg strength test experimental platform of foot type walking robot - Google Patents
Doubleleg strength test experimental platform of foot type walking robot Download PDFInfo
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- CN103885446A CN103885446A CN201410106755.XA CN201410106755A CN103885446A CN 103885446 A CN103885446 A CN 103885446A CN 201410106755 A CN201410106755 A CN 201410106755A CN 103885446 A CN103885446 A CN 103885446A
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- 238000012360 testing method Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 7
- 238000000429 assembly Methods 0.000 claims abstract 2
- 230000000712 assembly Effects 0.000 claims abstract 2
- 210000002414 leg Anatomy 0.000 claims description 104
- 238000006073 displacement reaction Methods 0.000 claims description 30
- 239000011347 resin Substances 0.000 claims description 19
- 229920005989 resin Polymers 0.000 claims description 19
- 210000002683 foot Anatomy 0.000 claims description 17
- 210000000629 knee joint Anatomy 0.000 claims description 12
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 11
- 229910000838 Al alloy Inorganic materials 0.000 claims description 10
- 210000004394 hip joint Anatomy 0.000 claims description 10
- 210000003423 ankle Anatomy 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 210000003127 knee Anatomy 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 210000001624 hip Anatomy 0.000 claims description 4
- 238000002474 experimental method Methods 0.000 abstract description 25
- 230000005021 gait Effects 0.000 abstract description 7
- 238000011160 research Methods 0.000 abstract description 2
- 238000004891 communication Methods 0.000 abstract 1
- 238000011217 control strategy Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000012795 verification Methods 0.000 abstract 1
- 238000001125 extrusion Methods 0.000 description 3
- 238000012612 static experiment Methods 0.000 description 3
- 238000011056 performance test Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009510 drug design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
本发明公开了一种足式步行机器人双腿脚力测试实验平台。该实验平台由机器人双腿实验台架、机器人单腿总成、机器人双腿连接器、机器人双腿实验机构以及机器人双腿控制器组成。其中，两个机器人单腿总成通过机器人双腿连接器连接在一起。机器人双腿实验机构通过竖直导轨上的滑块与机器人双腿连接器连接在一起。机器人双腿控制系统通过建立上下位机的通讯，对机器人双腿实验平台的数据进行采集处理，并对运动策略进行规划控制。本平台主要适用于对足式步行机器人的单腿脚力控制和双腿脚力控制、不同地形下的行走测试、载荷分配，步态规划，适合足式机器人的研究人员的先期研究以及控制策略的验证，具有成本低，制作简单，实验结果准确可靠的特点。
The invention discloses an experimental platform for testing the strength of the legs of a legged walking robot. The experimental platform consists of a robot double-leg test bench, a robot single-leg assembly, a robot double-leg connector, a robot double-leg experimental mechanism, and a robot double-leg controller. Among them, the two robot single-leg assemblies are connected together through the robot double-leg connector. The robot double-leg experimental mechanism is connected with the robot double-leg connector through the slider on the vertical guide rail. The robot legs control system collects and processes the data of the robot legs experiment platform by establishing the communication between the upper and lower computers, and plans and controls the motion strategy. This platform is mainly suitable for single-leg foot force control and double-leg foot force control of legged walking robots, walking tests on different terrains, load distribution, gait planning, suitable for researchers of legged robots for preliminary research and verification of control strategies , has the characteristics of low cost, simple manufacture and accurate and reliable experimental results.
Description
Technical field
The present invention relates to a kind of robot leg experiment porch, relate in particular to sufficient formula walking robot both legs strength of one's legs test experiments platform.
Background technology
Foot formula walking robot is owing to moving in complicated out-of-flatness environment, and different from other mechanical arms, is a statically indeterminate system about sufficient end reaction when with environmental exposure.Therefore, be necessary walking robot human leg-driven plan and control, sufficient formula walking robot, carrying out in the process of different work task, need to constantly convert or keep certain attitude; And different attitudes can produce different sufficient power and distributes, this just requires robot leg to have tracking power fast and accurately to the desired strength of one's legs of upper strata planner, or can maintain foot end anchorage force and change in certain expection allowed band.In destructuring environment; often can run into rough and uneven in surface, have dell, a road surface that rigidity is different; or encounter the situations such as unexpected obstacle; and be subject to different sufficient power; this requires robot to be changed such environment of perception and to be made different processing by sufficient power to a certain extent, to strengthen adaptability and the stability of robot to non-structure environment.The control of foot formula walking robot strength of one's legs is the key whether sufficient formula walking robot can walk smoothly and execute the task.
At present, mainly contain two kinds for the experiment porch of legged type robot: a kind of is experimental provision for walking capacity of foot robot test, a kind of walking capacity of foot robot experimental provision of being mentioned as Chinese patent literature CN102156054A; Another kind is the device for legged type robot list leg performance test, single leg experiment porch of being mentioned as Chinese patent literature Chinese patent literature CN102556197A and Chinese patent literature CN102841602A.But, lack the performance test of legged type robot both legs, particularly for the experiment table of both legs strength of one's legs control.
For this situation, the present invention has proposed the dynamic strength of one's legs test experiments of a kind of sufficient formula walking robot both legs platform first, this platform is applicable to biped, four-footed or Multifeet walking robot are at different body height, different gait of march, different gaits, the different motion states such as Different Ground, robot is carried out to strength of one's legs test in supporting phase and swinging phase process, and then realize control and the research of robot strength of one's legs.
Summary of the invention
For the both legs strength of one's legs to legged type robot is controlled, the present invention proposes a kind of sufficient formula walking robot both legs experiment porch, this both legs test platform not only can carry out a series of related experiment of sufficient formula walking robot list leg, and can carry out the strength of one's legs control of the related experiment, particularly both legs of sufficient formula walking robot both legs.
The present invention solves the scheme that its technical matters adopts: legged type robot both legs experiment porch comprises robot both legs experimental stand, robot list leg assembly, robot both legs connector, both legs experiment mechanism of robot and robot both legs controller.
Robot both legs experimental stand adopts commercial aluminum alloy section bar to build, by support with first fill nut/fill afterwards nut aluminium alloy extrusions is linked together.
Robot list leg assembly is divided into hip, knee, ankle and foot, wherein hip, knee and ankle are respectively made up of a steering wheel, the freedom of motion of hip joint, knee shutdown and ankle-joint is provided respectively, hip joint is connected by fork-shaped steering wheel connector with knee joint, knee joint is connected by rectangle steering wheel connector with ankle-joint, and robot list leg assembly is connected by U-shaped steering wheel connector with robot both legs connector.Foot is made up of five-dimensional force sensor and spherical foot end, and five-dimensional force sensor is connected with spherical foot end by flange, and whole foot connects machine by fork-shaped steering wheel and is connected with ankle.
Both legs connector is made up of the U-shaped resin plate of level and vertical U-type resin plate.
Both legs experiment mechanism of robot is by upright guide rail, horizontal guide rail, vertical displacement sensor, horizontal displacement sensors composition, wherein, slide block on upright guide rail connects the U-shaped resin plate of level of robot both legs connector, upright guide rail links together by the slide block on L-type angle steel and horizontal guide rail, horizontal guide rail is fixed on the horizontal aluminum alloy profile in the middle of robot both legs experimental stand bottom, vertical displacement sensor links together by rectangle resin plate and horizontal guide rail slide block, horizontal displacement sensors is connected with upright guide rail by horizontal displacement sensors slide connector and is fixed on by horizontal displacement sensors fixed connector on the aluminium alloy extrusions of robot both legs experimental stand.
Robot both legs controller and steering wheel on robot leg and horizon sensor, displacement transducer, five-dimensional force sensor are connected, and are connected with host computer by Ethernet, carry out jointly controlling of upper and lower computer.
The invention has the beneficial effects as follows: by rational design, can realize simply, erect conveniently, cheaply legged type robot both legs experiment porch.Use this experiment porch, can carry out correlative study to legged type robot, particularly the strength of one's legs control of legged type robot is studied.
Brief description of the drawings
Fig. 1 is overall construction drawing of the present invention.
Tu2Shi robot both legs test mechanism structural drawing.
Tu3Shi robot list leg assembly structure chart.
In figure: 1. robot both legs experimental stand, 2. robot list leg assembly, 3. robot both legs experiment mechanism, 4. robot both legs connector, 5. robot both legs controller, 6. vertical U-type resin plate, 7. the U-shaped resin plate of level, 8. horizontal displacement sensors, 9. vertical displacement sensor, 10. upright guide rail, 11. horizontal displacement sensors slide connectors, 12. horizontal displacement sensors fixed connectors, 13. horizontal guide rails, 14.L type angle steel, 15. rectangle resin plates, 16. ankle-joint steering wheels, 17. rectangle steering wheel connectors, 18. knee joint steering wheels, 19.U type steering wheel connects machine, 20. hip joint steering wheels, 21. fork-shaped steering wheel connectors, 22. five-dimensional force sensors, 23. spherical foot ends.
Embodiment
As shown in Figure 1, the present invention is made up of robot both legs experimental stand 1, robot list leg assembly 2, both legs experiment mechanism 3 of robot, robot both legs connector 4 and robot both legs controller 5.Wherein, robot both legs test-bed is built by the commercial aluminum alloy section bar of standard, and both legs connector 4 is made up of vertical U-type resin plate 6 and the U-shaped resin plate 7 of level, and robot both legs controller 5 is installed above.
Embodiment shown in Fig. 2 is both legs experiment mechanism of robot, this experiment mechanism is by horizontal displacement sensors 8, vertical displacement sensor 9, upright guide rail 10, horizontal displacement sensors slide connector 11, horizontal displacement sensors fixed connector 12, horizontal guide rail 13, L-type angle steel 14, rectangle resin plate 15 forms, wherein, slide block on upright guide rail 10 connects the U-shaped resin plate 7 of level of robot both legs connector 4, upright guide rail 10 links together by L-type angle steel 14 and the slide block on horizontal guide rail 13, horizontal guide rail 13 is fixed on the horizontal aluminum alloy profile in the middle of robot both legs experimental stand 1 bottom, vertical displacement sensor 9 links together by rectangle resin plate 15 and horizontal guide rail 13 slide blocks, horizontal displacement sensors 8 is connected with upright guide rail 10 by horizontal displacement sensors slide connector 11 and is fixed on by horizontal displacement sensors fixed connector 12 on the aluminium alloy extrusions of robot both legs experimental stand 1.
Embodiment shown in Fig. 3 is robot list leg assembly, robot list leg assembly 2 by ankle-joint steering wheel 16, rectangle steering wheel connector 17, knee joint steering wheel 18, U-shaped steering wheel connect machine 19, hip joint steering wheel 20, fork-shaped steering wheel connector 21, five-dimensional force sensor 22, spherical foot end 23 forms.Wherein, hip joint steering wheel 20 is connected by fork-shaped steering wheel connector 21 with knee joint steering wheel 18, knee joint steering wheel 18 is connected by rectangle steering wheel connector 17 with ankle-joint steering wheel 16, and robot list leg assembly 2 is connected by U-shaped steering wheel connector 19 with robot both legs connector 4.Foot is made up of five-dimensional force sensor 22 and spherical foot end 23, and five-dimensional force sensor 22 is connected with spherical foot end 23 by flange, and whole foot connects machine 21 by fork-shaped steering wheel and is connected with ankle-joint steering wheel 16.
Foot formula walking robot both legs strength of one's legs test experiments platform experimentation is as follows:
1. static experiment
Single leg assembly static experiment is first by controlling ankle-joint steering wheel 16, and knee joint steering wheel 18 and hip joint steering wheel 20 are adjusted one leg and lifted, and the spherical foot end 23 of this leg is separated completely with ground.Adjusting another one leg attitude makes vertical U-type resin plate 6 to specified altitude assignment, altitude information is measured by vertical displacement sensor 9, under stationary state, to measure data be robot overall weight to five-dimensional force sensor 22, but when adjustment shank attitude converts body height, according to different posture changing modes and posture changing speed, five-dimensional force sensor 22 measurement data also can change in the moment, and can record single leg assembly support time, attitude changes the strength of one's legs transformation relation causing.
Both legs static experiment is first by controlling ankle-joint steering wheel 16, knee joint steering wheel 18 and hip joint steering wheel 20 make both legs attitude to vertical U-type resin plate 6 to specifying experiment height, and two spherical foot ends 23 of leg all contact with ground, altitude information is measured by vertical displacement sensor 9, under stationary state, to measure data sum be whole platform and integrally weight to two legs, but while adjusting respectively two legs shank attitude, according to different attitudes and Different Weight allocation scheme, two leg foot end five-dimensional force sensor 22 data also can change in the moment, different loads strength of one's legs transformation relation can record both legs support time.
2. dynamic experiment
First by controlling ankle-joint steering wheel 16, knee joint steering wheel 18 and hip joint steering wheel 20 make both legs attitude to vertical U-type resin plate 6 to specifying experiment height, walk according to specific gait, and both legs alternately support walking forward.In this process, can obtain that robot list leg assembly 2 supports, both legs support and robot list leg assembly 2 swing process in strength of one's legs delta data, measured by five-dimensional force sensor 22.Adjust body height according to vertical displacement sensor 9 data, can obtain the walking strength of one's legs delta data under differing heights.Adjust pace according to horizontal displacement sensors 8 data, can obtain the walking strength of one's legs delta data under friction speed.Change gait parameter, can obtain the walking strength of one's legs delta data under different gaits.Change ground environment and shape, can obtain the walking strength of one's legs delta data under different earth's surfaces.Although experiment porch only has two legs to form, and needs only and reasonably gait is adjusted, still can simulate four-footed or multi-foot robot part leg exercise process and carry out strength of one's legs test.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105652896A (en) * | 2015-12-22 | 2016-06-08 | 哈尔滨工业大学 | Rotary table for foot type robot movement experiment |
| CN106625780A (en) * | 2017-01-19 | 2017-05-10 | 长安大学 | Foot-type bio-robot gesture control test platform and test method |
| CN106625778A (en) * | 2017-01-19 | 2017-05-10 | 长安大学 | Test platform and test method for movement control of foot type bio-robot and test method |
| CN106768958A (en) * | 2016-12-29 | 2017-05-31 | 吉林大学 | A kind of soft terrain walking leg kinematics and mechanical property test platform |
| CN106768938A (en) * | 2016-12-12 | 2017-05-31 | 北京航空航天大学 | A kind of legged mobile robot list leg performance test experiment porch |
| CN108340407A (en) * | 2018-02-06 | 2018-07-31 | 浙江大学 | A kind of planar robot's race jump test device of adjustable degree of freedom |
| CN108852567A (en) * | 2018-04-28 | 2018-11-23 | 北京航空航天大学 | A kind of asymmetric alternating load artificial leg Performance Test System |
| CN109357723A (en) * | 2018-12-17 | 2019-02-19 | 浙江大学自贡创新中心 | A kind of method and device of measurement arm quality |
| CN111086026A (en) * | 2020-01-07 | 2020-05-01 | 吉林大学 | A bionic robot foot pad and ground force test bench |
| CN113092155A (en) * | 2021-05-19 | 2021-07-09 | 中国北方车辆研究所 | Single-leg experiment bench for foot type robot |
| CN114084246A (en) * | 2021-12-14 | 2022-02-25 | 浙江大学湖州研究院 | A humanoid robot lower limbs for space microgravity environment |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105652896B (en) * | 2015-12-22 | 2018-07-06 | 哈尔滨工业大学 | A kind of turntable for legged type robot exercise testing |
| CN105652896A (en) * | 2015-12-22 | 2016-06-08 | 哈尔滨工业大学 | Rotary table for foot type robot movement experiment |
| CN106768938A (en) * | 2016-12-12 | 2017-05-31 | 北京航空航天大学 | A kind of legged mobile robot list leg performance test experiment porch |
| CN106768958A (en) * | 2016-12-29 | 2017-05-31 | 吉林大学 | A kind of soft terrain walking leg kinematics and mechanical property test platform |
| CN106768958B (en) * | 2016-12-29 | 2019-07-30 | 吉林大学 | A kind of soft terrain walking leg kinematics and mechanical property test platform |
| CN106625778B (en) * | 2017-01-19 | 2023-05-26 | 长安大学 | Motion control test platform and test method for foot-type bionic robot |
| CN106625780A (en) * | 2017-01-19 | 2017-05-10 | 长安大学 | Foot-type bio-robot gesture control test platform and test method |
| CN106625778A (en) * | 2017-01-19 | 2017-05-10 | 长安大学 | Test platform and test method for movement control of foot type bio-robot and test method |
| CN106625780B (en) * | 2017-01-19 | 2023-05-30 | 长安大学 | A foot bionic robot attitude control test platform and test method |
| CN108340407A (en) * | 2018-02-06 | 2018-07-31 | 浙江大学 | A kind of planar robot's race jump test device of adjustable degree of freedom |
| CN108340407B (en) * | 2018-02-06 | 2019-07-09 | 浙江大学 | An adjustable degree of freedom plane robot running and jumping test device |
| CN108852567A (en) * | 2018-04-28 | 2018-11-23 | 北京航空航天大学 | A kind of asymmetric alternating load artificial leg Performance Test System |
| CN109357723A (en) * | 2018-12-17 | 2019-02-19 | 浙江大学自贡创新中心 | A kind of method and device of measurement arm quality |
| CN109357723B (en) * | 2018-12-17 | 2023-12-08 | 浙江大学自贡创新中心 | Method and device for measuring arm quality |
| CN111086026A (en) * | 2020-01-07 | 2020-05-01 | 吉林大学 | A bionic robot foot pad and ground force test bench |
| CN113092155A (en) * | 2021-05-19 | 2021-07-09 | 中国北方车辆研究所 | Single-leg experiment bench for foot type robot |
| CN114084246A (en) * | 2021-12-14 | 2022-02-25 | 浙江大学湖州研究院 | A humanoid robot lower limbs for space microgravity environment |
| CN114084246B (en) * | 2021-12-14 | 2023-06-06 | 浙江大学湖州研究院 | A humanoid robot lower limb for space microgravity environment |
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Application publication date: 20140625 |