JPH0247530A - Testing apparatus of walking leg - Google Patents

Abstract

PURPOSE:To verify the effectiveness of a walking leg by detecting and analyzing the amount of a simulated load and the amount of movement applied to a single walking leg whose walking motion is controlled by a control device and a simulated-load device. CONSTITUTION:When an instructing device 11 outputs to a control circuit an instruction value obtained by simulations of the position and force of the waist part of a walking leg, a simulated-load device 2 makes the waist part 1A of the walking leg 1 operate. When the instructing device 11 outputs an instruction value of the motion of each joint part to the control circuit, the walking leg 1 makes a walking operation. Values obtained under various conditions are inputted as the instruction values to be applied to the control circuits, a torque, a position, a speed acceleration, deformation, a strain, etc. applied to each walking leg and the waist part thereof when actual walking is made are measured by sensors 7, 10, potentiometers 5, 9 and a pulse encoder 6, data on them are analyzed by an analyzer 12, and guides for design of a multi-leg walking machine are obtained therefrom.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a device for simulating testing of the strength of walking legs, etc., and in particular, a device for simulating the force applied to the walking legs of a multi-legged walking machine. The present invention also relates to a walking leg test device suitable for performing the walking test.

[Conventional technology]

Conventionally, as a device for checking the walking motion of the legs of a walking robot having one or two legs, Robotics Research 3. (1986) pp. 347-35
5 pages (Robotic Research 3 (198
6) as discussed in pp'349-355)
In order to limit the motion of a walking robot within two dimensions,
Experiments are conducted with the body of a robot connected to the other end of a boom fixed to the floor, and Proceedings of the 8th Oklahoma State University Applied Mechanisms Conference (1983) No. 5
Pages 0-1 to 50-8 (Proceedings
of the 8th Oklahoma 5th
University AppliedMechani
s+as Conference (1983)
As discussed in p p 50-1 to 50-8), one of the legs of a multi-legged walking robot was prototyped, this one leg was placed on a test stand, and its walking efficiency was measured. There's something that's on.

[Problem to be solved by the invention]

The above-mentioned conventional test equipment is used to test the structural strength of the legs, the behavior of external forces, and the changes in the force applied to each leg when the multi-legged walking machine actually walks. No consideration was given to conducting experiments on control issues, and after building a multi-legged walking machine, it was found that the strength was insufficient,
Lack of power.

There has been a problem in that it is difficult to prevent in advance the possibility that problems such as difficulty in control will occur.

The purpose of the present invention is to solve problems in the structural strength of the legs, drive system specifications, and control in the development of multi-legged walking machines.

An object of the present invention is to provide a walking leg test device that can perform confirmation using a single walking leg.

[Means for Solving the Problem] The above object is to provide a simulated load device that supports a single walking leg and applies a simulated load such as force or torque in an arbitrary direction to the single walking leg, and the simulated load device. a simulated load amount detection sensor that detects the simulated load amount, a control device for the single walking leg, and a leg operation amount detection sensor that detects the actuation amount of the single walking leg; This is achieved by comprising a device that analyzes the characteristics of the single walking leg based on the detection information from the sensor.

[Effect]

The walking behavior of a single walking leg to be tested is controlled by its control device and a simulated load device. At this time, the amount of simulated load that the simulated load device applies to the single walking leg and the amount of movement of the single walking leg are detected by the respective sensors. Based on this detected information, the analysis device measures and analyzes the landing *S of a single walking leg, the torque of the joint, etc. Based on the results of this analysis, it is possible to verify the effectiveness or defects of the walking legs.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an embodiment of the testing device of the present invention. In this figure, a single walking leg 1 to be tested has a hip IA and a hip lateral swinging leg that rotates around the X-axis. 1 joint part IB and a second joint part I for vertical hip swing that rotates around the Y axis.
C, a first leg 1D, and a second joint IE corresponding to a knee joint.

It supports the walking leg 1 and is composed of the second leg IF, the third to fifth joints IG, LH, and II corresponding to the first ankle interjoint, and the foot IJ. force in any direction,
The simulated load device 2 that applies torque and the like is composed of, for example, an articulated robot having six joints. Specifically, a base 2A, a rotating part 2B connected to this base 2A,
The first joint portion 2C, the first arm portion 2D, the @2 joint portion 2E, the second arm portion 2F, and the third to third joints corresponding to the wrist joint.
It is composed of fifth joint parts 2G, 2H, and 2I. An auxiliary device 3 is provided between the waist IA of the walking leg 1 and the tip of the simulated load device 2 to connect them. The first to fifth joints IB, IE, IG to II of the walking leg 1 described above
is provided with an actuator 4 for driving each joint. A potentiometer 5 for detecting the joint rotation angle and a pulse encoder 6 for detecting the joint rotation speed are attached to the actuator 4. Further, a torque center 7 for detecting the force applied from the simulated load device 2 is attached to the waist IA of the walking leg 1. Swivel portion 2B, first to fifth joint portions 2C, 2E of the simulated load device 2.

An actuator 8 for driving each joint is attached to each of 2G to 2G. A potentiometer 9 is attached to this actuator 8 for detecting the joint rotation angle. In addition, the walking leg 1 is attached to the tip of the simulated load device 2.
A torque sensor lO is installed to detect the force applied to the In addition.

In Fig. 1, actuators 4, potentiometers 5, and 5 for walking leg system 1 are shown. The pulse encoder 6 is connected to the second joint I.
C, and the actuator 8 of the simulated load device 2. The potentiometer 9 is shown as a representative of the fourth joint 2H.

Next, an example of a control circuit used in the present invention will be explained using FIG. 2. In this figure, parts with the same reference numerals as those in FIG. 1 are the same. The command device 11 outputs signals for driving the simulated load device 2 and the walking legs 1 connected thereto, respectively. That is, the command device 11 issues a motion command to the simulated load device 2 to move the lumbar region IA of the walking leg 1 in a more or less horizontal direction, and to the walking leg 1 to cause the walking leg 1 to perform a walking motion. Outputs operation commands.

The analysis device 12 includes a potentiometer 9 provided in the simulated load device 2. Torque sensor 10 and potentiometer 5 provided on walking leg 11. A pulse encoder 6 and a torque sensor 7 are connected.

Next, the operation of one embodiment of the above-described apparatus of the present invention will be described.

The command device 11 outputs to the control circuit of the simulated load device 2 command values obtained by simulating the positions and forces of the layered portions of the walking legs during walking of the multi-legged walking machine.

Thereby, the simulated load device 2 operates the waist IA of the walking leg 1. At the same time, the command device 11 outputs command values for the movement of each joint of the walking leg 1 to the control circuit of the walking leg 1.

The walking leg 1 performs a walking motion accordingly. Here, input the values under various situations of the multi-legged walking machine (crossing the foot of a step, stepping over a step, etc.) as command values to be applied to each control circuit, and input the values that will be applied to each control circuit when the multi-legged walking machine actually walks. Torque, position, velocity, and acceleration applied to the walking leg and its lumbar region.

Sensor 7.10, potentiometer 5.9 for deformation, strain, etc.
．． The pulse encoder 6 measures the data as data.

By analyzing those data with the analysis device 12,
Structural strength design of multi-legged walking machines.

Drive system design 1 You can obtain guidelines for designing a walking control system. Furthermore, by making only one walking leg, it is possible to carry out experiments similar to those of a multi-legged walking machine, which has the effect of reducing development costs. We also prepared experiments to adjust and control many joints of a multi-legged walking machine in the same way.
Many gait experiments using multi-legged walking machines that have the possibility of transformation are extremely difficult to obtain the desired data, but when using the simulated load device 2, the number of leg joints is small and the experimental conditions Because it is easy to arrange and there is no risk of falling.

It is also possible to conduct experiments with large changes in parameters.

FIG. 3 shows another embodiment of the present invention, in which the same reference numerals as in FIG. 1 are the same parts. In this embodiment, when the weight of the walking leg 1 increases, the simulated load device 2
An auxiliary device 30 is movably provided on a pedestal 13 by means of an axle 14, and walking legs 1 are attached to this auxiliary device 30 by stoppers 31 and 32. The tips are connected. The control circuit in this embodiment is the same as that in the embodiment shown in FIG. 2, so a description thereof will be omitted.

With this configuration, the stopper 32 of the walking leg 1 is supported by the stopper 31 of the auxiliary device, and the load of the walking leg when it is swinging is supported by the pedestal 13 through the axle 14. As a result, testing of heavy walking legs is possible.

FIG. 4 shows still another embodiment of the present invention, in which the same reference numerals as in FIG. 1 are the same parts. In this embodiment, the auxiliary device is composed of a movable frame 40, which includes three or more columns 41, a joint 42 at the lower end thereof that rotates with one degree of freedom, and an axle 43.
It is equipped with This frame 40 has stoppers 44 and 45.
The walking legs 1 are attached to the walking legs 1, and the tips of the dummy load devices 2 are connected to each other by a joint 46.

With this configuration, the simulated load device 2 can support the load of even a walking leg that is too heavy to handle on the pedestal 40 that constitutes the auxiliary device, and also allows the walking leg 1 to move freely in a plane. 1 walking leg 1 while guiding in the direction
can be tested.

FIG. 5 shows another embodiment of the present invention, and this embodiment shows a more concrete configuration of the embodiment shown in FIG. The two are the same part. In this embodiment, the auxiliary device 3o is configured to transmit the horizontal force from the simulating load device 2 and to enable experiments in which the weight of the torso of the walking machine is changed. That is, the waist IA of the walking leg 1 is connected to a load 33 corresponding to the weight of the torso provided within the auxiliary device 30. A shaft 34 connected to this load 33 is connected to a permitting device 5 that allows the amount of movement of the walking leg 1 in the forward direction through a guide 35 of the auxiliary bag W130.
Connected to 0. This permitting device 50 is constructed by attaching either a wire (not shown) or a spring 51 to the auxiliary device 30 so that a force in a direction perpendicular to the direction of movement of the walking leg 1 does not act on the walking leg 1. Depending on the selection, forward force is transmitted rigidly or with damping. The above-described permitting device 50 is connected to the simulated load device 2 via a guide 52 that permits vertical movement.

The aforementioned auxiliary device 30 includes a stand 36 on which a load 33 can be mounted.
is provided. Further, a load cell 60 is provided on the spherical surface.

With this configuration, first, when standing, the load 33 is positioned above the base 36 as shown in FIG.

As a result, a load 33 is applied to the walking leg 1. Furthermore, as shown by the dashed line in Fig. 5, by placing the load 33 on the stand 36 when the leg is swinging, it is possible to prevent the load 33 from being applied to the leg, making it possible to conduct tests that are consistent with reality. . In addition, by walking with the foot of the walking leg 1 resting on the load cell 6o when standing, it is possible to measure the relationship of the force generated between the foot and the floor when the foot lands on the ground.

〔Effect of the invention〕

According to the present invention, in the development of a multi-legged walking machine, one walking leg is manufactured and an experiment is conducted to determine the force applied to the walking leg, its joints, and the torso.

Problems with torque and control can be verified.

As a result, design data for the structure, two mechanisms, and drive system of a full-scale multi-legged walking machine can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the mechanical configuration of an embodiment of the device of the present invention;
FIG. 2 is a diagram showing the configuration of a control circuit used in the apparatus of the present invention, and FIGS. 3 to 5 are diagrams each showing the mechanical configuration of other embodiments of the present invention. 1... Walking leg, 2... Simulated load device, 3, 30.4
0... Auxiliary device. Patent Applicant Director of the Agency of Industrial Science and Technology Kozo Iizuka 1 Figure 3 Figure 2 Figure 13

Claims (1)

[Claims] 1. In a walking leg test device that tests the walking behavior of a single walking leg with joints in a multi-legged walking machine, the single walking leg is supported and the single walking leg is moved in any direction. A simulated load device that applies a simulated load such as force or torque, a control device that controls the simulated load device, a simulated load detection sensor that detects a simulated load amount outputted by the simulated load device, and the single walking leg. a control device, a leg movement amount detection sensor that detects the actuation amount of the single walking leg, and an analysis device that analyzes the characteristics of the single walking leg based on the detection information from the sensor. A walking leg testing device characterized by: