CN102353804A - Method for measuring creeping speed of P-P structural snake-like robot - Google Patents

Abstract

A crawling speed measurement method of a PP structure snake-like robot, the left base plate of an assembled module is connected with the right base plate of an adjacent assembled module with 0 degree rotation, and the assembled module rotates around the rotating shaft of the steering gear; the PP structure snake-like robot is set The initial state is in a horizontal straight line state, and the maximum angle range of the steering gear of the adjacent module is -90-+90 degrees. By adjusting the rotation angle of the steering gear, the snake body forms a small wave along the snake tail to the snake head. , the forward moving distance of the shaped robot is determined by the argument of the assembled module, the length of each assembled module is represented by 2h, and the forward moving distance is represented by Δx as shown in formula (1); The distance Δx and the cycle time T, get the average speed, such as formula (2). The invention can effectively measure the moving gait and crawling speed of the snake robot.

Description

The creep speed measuring method of P-P structure snake-shaped robot

Technical field

The present invention relates to robot, measuring method, how much, graphics, control engineering etc., the especially a kind of motion gait of modularization robot and the measuring method of creep speed.

Background technology

The modularization robot of modularization robot, especially linear structure is easy to assembly because of having, and low price usually is used for robot teaching and scientific research.Use general or non-general module researchist can assemble the not robot of isomorphism type,, and utilize them to carry out motion control, bionical or the like research like the machine caterpillar.Like the patent No. is 94247368.X, 03257835.0 etc.

At present, the control method of the modularization robot of Pitch structure and Pitch-Yaw structure is ripe relatively, like the CPG control method.Yet, also do not have correlation technique at aspects such as the motion gait of P-P structure snake-shaped robot, mathematical model, creep speeds.

Summary of the invention

In order to overcome the deficiency that can't measure motion gait and creep speed of existing snake-shaped robot, the present invention provides a kind of creep speed measuring method of P-P structure snake-shaped robot of motion gait and creep speed of effective measurement snake-shaped robot.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of creep speed measuring method of P-P structure snake-shaped robot is rotatably connected with the right base plate of adjacent assembling module the left bottom plate of an assembling module with 0 degree, each assembling module rotates around the rotating shaft of steering wheel; The original state of setting P-P structure snake-shaped robot is in the horizontal linear state; The maximum angle scope that the steering wheel of adjacent block turns over is for being-the 90-+90 degree; Through the adjustment steering wheel rotational angle, make the snake body form a bit of waveform along ophiruid to the transmission of snakehead direction, travel forward thereby promote this P-P structure robot;, the undulation that forms accomplishes the one-period motion when being delivered to snakehead; The argument value decision that the distance that snake-shaped robot moves forward is turned over by assembling module, the length of each assembling module representes that with 2h the distance of representing with Δ x to move forward is shown in formula (1):

$\mathrm{\Δx}=2h(2-\frac{\cos \mathrm{\η}}{2}-\cos \frac{\mathrm{\η}}{2})---\left(1\right)$

Wherein, η is the joint rotation maximum angle that two assembling modules form;

According to phase weekly robot the distance, delta x and the cycle duration T that advance, obtain average velocity, like formula (2):

V＝Δx/T

(2)。

The concatenation module of front is a node 1, and the concatenation module of rear adjacent is a node 2, and said undulation transmittance process comprises following three phases:

Phase one: waveform initially forms the stage, and in the starting stage that waveform forms, node 1 is moving node, and node 2 is static node, and promptly waveform is from t ₁The time be carved into t ₂Constantly, node 2 contacts with ground all the time, and node 1 at the uniform velocity lifts; Existing definition module joint just clockwise turns to, and is rotated counterclockwise to negative joint 1 negative sense rotation in this process; Suppose that the joint rotation maximum angle limit is the η degree, be rotated in the forward joint 2 simultaneously and cause the θ degree, make P ₁P ₂P ₃Form right-angle triangle, form first small form of ophiruid; Wherein P1 is the ophiruid end points, and P2, P3 are respectively the steering wheel rotating shaft position of first module and second module.

Subordinate phase: waveform is along snake body transfer stages, and node 2 at the uniform velocity lifts, and node 1 is forward rotation at the uniform velocity, is zero up to the steering wheel rotation angle, and with this cycle alternation, waveform promotes the snake body simultaneously and travels forward successively to front transfer;

Phase III: waveform recovers the stage, at the uniform velocity rotates to horizontal level under node 1 clockwise direction, and node 2 upwards at the uniform velocity rotates to initial position counterclockwise, accomplishes moving wave shape is delivered to the one-period of snakehead by ophiruid motion process.

Beneficial effect of the present invention mainly shows: motion gait and the creep speed of effectively measuring snake-shaped robot.

Description of drawings

Fig. 1 is the structural representation of basic module.

Fig. 2 is the structural representation of the basic module of another side.

Fig. 3 is the vertical view of basic module.

Fig. 4 is the connection synoptic diagram of two basic modules.

Fig. 5 is that waveform is along snake body transfer stages synoptic diagram.

Fig. 6 is the mathematical model synoptic diagram in the transmission excessively of snake-shaped robot waveform.

Embodiment

Below in conjunction with accompanying drawing the present invention is further described.

With reference to Fig. 1～Fig. 6, a kind of creep speed measuring method of P-P structure snake-shaped robot is rotatably connected with the right base plate of adjacent assembling module the left bottom plate of an assembling module with 0 degree, and each assembling module rotates around the rotating shaft of steering wheel; The original state of setting P-P structure snake-shaped robot is in the horizontal linear state; The maximum angle scope that the steering wheel of adjacent block turns over is for being-the 90-+90 degree; Through the adjustment steering wheel rotational angle, make the snake body form a bit of waveform along ophiruid to the transmission of snakehead direction, travel forward thereby promote this P-P structure robot;, the undulation that forms accomplishes the one-period motion when being delivered to snakehead; The argument value decision that the distance that snake-shaped robot moves forward is turned over by assembling module, the length of each assembling module representes that with 2h the distance of representing with Δ x to move forward is shown in formula (1):

$\mathrm{\Δx}=2h(2-\frac{\cos \mathrm{\η}}{2}-\cos \frac{\mathrm{\η}}{2})---\left(1\right)$

Wherein, η is the joint rotation maximum angle that two assembling modules form;

According to phase weekly robot the distance, delta x and the cycle duration T that advance, obtain average velocity, like formula (2):

V＝Δx/T

(2)。

Further, the concatenation module of front is a node 1, and the concatenation module of rear adjacent is a node 2, and said undulation transmittance process comprises following three phases:

Phase one: waveform initially forms the stage, and in the starting stage that waveform forms, node 1 is moving node, and node 2 is static node, and promptly waveform is from t ₁The time be carved into t ₂Constantly, node 2 contacts with ground all the time, and node 1 at the uniform velocity lifts; Existing definition module joint just clockwise turns to, and is rotated counterclockwise to negative joint 1 negative sense rotation in this process; Suppose that the joint rotation maximum angle limit is the η degree, be rotated in the forward joint 2 simultaneously and cause the θ degree, make P ₁P ₂P ₃Form right-angle triangle, form first small form of ophiruid; Wherein P1 is the ophiruid end points, and P2, P3 are respectively the steering wheel rotating shaft position of first module and second module.

Subordinate phase: waveform is along snake body transfer stages, and node 2 at the uniform velocity lifts, and node 1 is forward rotation at the uniform velocity, is zero up to the steering wheel rotation angle, and with this cycle alternation, waveform promotes the snake body simultaneously and travels forward successively to front transfer;

Phase III: waveform recovers the stage, at the uniform velocity rotates to horizontal level under node 1 clockwise direction, and node 2 upwards at the uniform velocity rotates to initial position counterclockwise, accomplishes moving wave shape is delivered to the one-period of snakehead by ophiruid motion process.

In the present embodiment, P-P structure snake-shaped robot is two assembling modules be formed by connecting (like Fig. 4).The left bottom plate of an assembling module is rotatably connected with 0 degree with the right base plate of adjacent assembling module, and each assembling module rotates around the rotating shaft of steering wheel.

Said module comprises left bottom plate 1, right base plate 4 and steering wheel 6; Have steering wheel rotating disc 7 in the rotating shaft of said steering wheel 6 one sides, described assembling module comprises that also steering wheel supports auricle 5, the steering wheel rotation is exported to support outside auricle 8, the mechanism and supported auricle 2 in auricle 3 and the mechanism; Support auricle 3 outside said steering wheel support auricle 5, the mechanism and fixedly connected with right base plate 4 respectively, steering wheel supports auricle 5 fixedlys connected with steering wheel 6 one sides, supports auricle 3 outside the mechanism and directly fixedlys connected with right base plate 4; Supporting auricle 2 in described steering wheel rotation output auricle 8, the mechanism fixedlys connected with left bottom plate 1 respectively; Steering wheel rotation output auricle 8 is socketed in the rotating shaft of steering wheel 6 one sides, supports outside auricle 2 top boss rotating shafts and the mechanism in the mechanism and supports the mating holes socket on the auricle 3; Spatially, the rotating shaft of described steering wheel 6 and left bottom plate 1, right base plate 4 are parallel, and said steering wheel supports that to support auricle 3 outside auricle 5, the mechanism vertical with right base plate 4, and support auricle 2 is vertical with left bottom plate 1 in described steering wheel rotation output auricle 8, the mechanism.Described left bottom plate 1, right base plate 4 are provided with the mounting hole that cooperates with other assembling module.

See figures.1.and.2, this basic module GZ-I is by 2 base plates (left bottom plate, right base plate), and 1 steering wheel supports auricle, and 1 steering wheel rotation output auricle supports auricle outside 1 mechanism, supports auricle in 1 mechanism, and 1 steering wheel and some attachment screws are formed.All parts all use aluminum alloy machinery to be processed into, and anodization.Module can realize the rotational freedom of a scope between ± 90 degree.Module has 4 joint faces and is used for being connected with other module, is respectively 2 base plates, supports auricle outside steering wheel rotation output panel and the mechanism.

Referring to Fig. 3, steering wheel supports auricle through four groups of screws and steering wheel and is connected, and this steering wheel supports and supports auricle outside auricle and the mechanism and be connected through 4 screws with right base plate, thus unit, the formation module right side; Steering wheel rotating disc and steering wheel rotation output auricle links to each other through with the steering wheel rotating disc Screw that connecting hole is fit to being installed, and the support auricle links to each other through 4 screws with left bottom plate in this auricle and the mechanism, thus the left unit of formation module; The connection that right unit is gone into along module installation shaft line pressure in left unit cooperates, thereby accomplishes the module assembling fast.

The GZ-I module can 180 the rotation of degree because the symmetry of structure, set it and rotate freely at-90-90 degree.And the control to module also has function regularly, because in the middle of the process to modularization robot control, the rotation between the module has sequencing.Certainly in the process of modularization robot continuous motion, there is periodic motion in each module.

The original state of supposing the snake-shaped robot of minimal structure is one and directly is in the horizontal linear state; Be that the steering wheel anglec of rotation is zero; The maximum angle scope that the adjacent block steering wheel turns over is-the 90-+90 degree, through the rotational angle of adjustment steering wheel, make the snake body form a bit of waveform along ophiruid to the transmission of snakehead direction; Travel forward thereby promote this P-P structure robot, when the moving wave shape that forms is delivered to snakehead, accomplish the motion of one-period.As can be seen from Figure 5 the snake-shaped robot of two module formations can normally travel forward with the form of a bit of ripple; But because number of modules very little; Can not form a complete sinusoidal motion waveform; But its motion gait is stable, and complete moving wave shape transmittance process mainly is made up of three phases:

Phase one: waveform initially forms the stage, and is as shown in Figure 5, and in the starting stage that waveform forms, node 1 is moving node, and node 2 is static node, and promptly waveform is from t ₁The time be carved into t ₂Constantly, node 2 contacts with ground all the time, and node 1 at the uniform velocity lifts, and existing definition module joint just clockwise turns to; Be rotated counterclockwise to negative, joint 1 negative sense rotation in this process is because the restriction of number of modules; If the steering wheel anglec of rotation is excessive will to cause the P-P structure robot can not proper motion, suppose that the joint 1 rotation maximum angle limit is the η degree, the rotation of the phase twisting of joints 2 positive dirctions; When reaching θ and spend, as shown in Figure 5, P then ₁P ₂P ₃Form right-angle triangle, first small form of ophiruid has formed.

Subordinate phase: waveform is meant t shown in the figure along snake body transfer stages ₂, t ₃Two stages.Node 1 moves with node 2 simultaneously, at t ₃Stage, as shown in Figure 5, at the uniform velocity lift at waveform transfer stages node 2, node 1 is forward rotation at the uniform velocity, is zero up to the steering wheel rotation angle, and with this cycle alternation, waveform promotes the snake body simultaneously and travels forward successively to front transfer.

Phase III: waveform recovers the stage, like t among the figure ₄, t ₅Two processes.At the uniform velocity rotate to horizontal level under articulation point 1 clockwise direction, articulation point 2 upwards at the uniform velocity rotates to initial position counterclockwise, like t ₅Shown in the process, accomplished moving wave shape is delivered to the one-period of snakehead by ophiruid motion process this moment.

Behind the intact one-period of waveform transmission, the distance that snake-shaped robot moves forward is by t ₂The argument value decision that moment module turns over, the length of each module of robot representes that with 2h the distance of representing with Δ x to move forward is shown in formula (1):

$\mathrm{\Δx}=2h(2-\frac{\cos \mathrm{\η}}{2}-\cos \frac{\mathrm{\η}}{2})---\left(1\right)$

According to last phase weekly robot the distance, delta x and the cycle duration T that advance, just can obtain average velocity, like formula 2:V=Δ x/T

(2)

In the present embodiment, 2h=7.6cm, calculate Δ x:

$\mathrm{\Δx}=7.6(2-\frac{\cos 60}{2}-\cos 30)=6.7\mathrm{cm}---\left(1\right)$

Obtaining average velocity is:

(2)。V＝6.7/1＝6.7cm/s

In order further to improve the robot efficient of creeping, this application is set up the mathematical model in the snake-shaped robot waveform transmittance process of P-P structure, and is as shown in Figure 6.α among the figure _iThe angle of representing each module and horizontal direction, β _iAngle between the expression adjacent block.Be moving node at waveform transfer stages node 2, node 1 is static node, and for preventing that sliding phenomenon repeatedly takes place snake-shaped robot in the waveform transmittance process, the waste energy requires the distance L between P1 and the P3 to immobilize.From this constraint condition, we draw to draw a conclusion:

${\mathrm{\α}}_1=\arccos (-\frac{3}{L})$

${\mathrm{\&alpha;}}_2=\arccos \left(\frac{3h+{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HDA0000072886920000011.png,HDA0000072886920000012.png"\; state="\{\{state\}\}">L</figure-callout>}}^2}{4\mathrm{hL}}\right)$

$\cos {\mathrm{\&alpha;}}_2=\frac{3h+{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="HDA0000072886920000011.png,HDA0000072886920000012.png"\; state="\{\{state\}\}">L</figure-callout>}}^2}{4\mathrm{hL}}$

Thus it is clear that, because the relative rotation β between the adjacent block ₁, β ₂And α ₁, α ₂Between exist some geometric relationships, so angle beta that can come the control module node to rotate through steering wheel of the snake-shaped robot model among this paper _iAnd α _iVariation (α ₁Change to zero degree, β by 60 degree ₂Change to 30 degree by zero degree), thus the whole process of snake-shaped robot moving wave shape transmission is control effectively.

Claims (2)

1. a method for measuring crawling speed of a P-P structure snake-like robot, characterized in that: the left base plate of an assembled module is connected with the right base plate of an adjacent assembled module with 0 degree rotation, and each assembled module rotates around the rotating shaft of the steering gear ;Set the initial state of the P-P structure snake robot to be in a horizontal and straight state, and the maximum angle range of the steering gear of the adjacent module is -90-+90 degrees. By adjusting the rotation angle of the steering gear, the snake body forms a short section The waveform is transmitted along the snake tail to the snake head, thereby pushing the P-P structure robot to move forward. When the formed wave motion is transmitted to the snake head, a cycle of motion is completed. The forward moving distance of the snake robot is determined by the argument angle value of the assembled module. It is determined that the length of each assembled module is represented by 2h, and the distance moved forward is represented by Δx as shown in formula (1): $\mathrm{<span\; class="notranslate">\; \&Delta;x</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&eta;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; cos</span>}\frac{\mathrm{<span\; class="notranslate">\; \&eta;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$ Wherein, η is the joint rotation maximum angle that two assembled modules form; According to the distance Δx that the robot advances in each cycle and the cycle time T, the average speed is obtained, as shown in the formula (2): V=Δx/T (2). 2. the crawling speed measuring method of P-P structure snake robot as claimed in claim 1, is characterized in that: the splicing module of front is node 1, and the splicing module adjacent behind is node 2, and described waveform motion transmission process comprises following three phases: The first stage: the initial stage of waveform formation. In the initial stage of waveform formation, node 1 is a moving node and node 2 is a static node, that is, the waveform is from time _t1 to time _t2 , and node 2 is always in contact with the ground , node 1 is lifted at a constant speed, now define the clockwise rotation of the module joint as positive, and the counterclockwise rotation as negative, during which joint 1 rotates negatively, assuming that the maximum angle limit of joint rotation is η degrees, and at the same time joint 2 is rotated positively To the degree of θ, P ₁ P ₂ P ₃ forms a right triangle and forms the first small waveform of the snake tail; where P1 is the end point of the snake tail, P2 and P3 are the positions of the servo shafts of the first module and the second module respectively. The second stage: the waveform is transmitted along the snake body. Node 2 is lifted at a constant speed, and node 1 is rotated forward at a constant speed until the rotation angle of the steering gear is zero. In this cycle, the waveform is transmitted forward in sequence, and the snake body is pushed forward at the same time. ; The third stage: the waveform recovery stage, node 1 rotates clockwise downwards to the horizontal position at a constant speed, node 2 rotates counterclockwise upwards to the initial position at a constant speed, and completes a cycle of motion process in which the motion waveform is transmitted from the snake tail to the snake head.

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