中国农业大学张庆副教授等：丘陵山地仿生机械轮腿式机器人位姿控制方法

                                 
丘陵山地仿生机械轮腿式机器人位姿控制方法

潘烤鑫1,2，张 庆1,2*，王振宇1,2，王思博2，周奥博2，尤 泳2，王德成2

（1. 农业农村部华南现代农业智能装备重点实验室，广州 510630，中国；

2. 中国农业大学工学院，北京 100083，中国）

摘要：针对传统农业装备底盘环境适应性弱、机动性能差等问题，该研究研制了一款能够在不同复杂地形条件下稳定高效运作的无人化农业装备底盘。

首先，通过仿照蝗虫后足运动原理并结合气液动连杆机构，设计了一种新型轮腿组合式结构。利用D-H参数法对该轮腿结构进行运动学分析研究，结果表明该轮腿结构末端在X方向移动范围为0-450 mm、Y方向移动范围为0-840 mm、Z方向移动范围为0-770 mm，为实现四轮独立转向、轮距独立可调、车身自动升降以及不同坡面保持车身水平等功能提供了结构基础。同时，通过理论分析及结构参数计算完成了无人底盘各系统的设计。

其次，基于RecurDyn软件对轮腿式无人底盘开展了运动学分析，验证了轮腿式无人底盘坡面调平、自主越障等功能实现的可行性。并建立了综合考虑俯仰角、侧倾角、虚腿、质心高度等因素的全向调平控制系统，通过Adams和Matlab软件对轮腿式无人底盘进行联合仿真，与PID控制系统进行调平效果对比，结果表明调平误差绝对值最大值为俯仰角1.08°，侧倾角1.19°，俯仰角标准差0.21647，侧倾角标准差0.17622，调平效果优于PID控制系统，验证了轮腿式无人底盘在复杂环境下车身姿态全向调平控制可行性。

最后，完成了轮腿式无人底盘的加工装配并进行了原地调平和离地间隙调整试验。试验结果表明在位姿控制系统作用下该车能够实现原地调平，响应速度与调平精度能够满足实际工作要求，且离地高度能够满足实际越障需求。

关键词：丘陵山地；仿生机械；轮腿式车辆；位姿控制；样机试验

DOI：10.25165/j.ijabe.20241705.8383

引用信息：Pan K X, Zhang Q, Wang Z Y, Wang S B, Zhou A B, You Y, et al. Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas. Int J Agric & Biol Eng, 2024; 17(5): 151–162.

Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas

Kaoxin Pan1,2 , Qing Zhang1,2* , Zhenyu Wang1,2 , Sibo Wang2 , Aobo Zhou2 , Yong You2 , Decheng Wang2

(1. Key Laboratory of Modern Agricultural Intelligent Equipment in South China, Ministry of Agriculture and Rural Affairs, Guangzhou 510630, China;

2. College of Engineering, China Agricultural University, Beijing 100083, China)

Abstract：In response to the weaknesses of traditional agricultural equipment chassis with poor environmental adaptability and inferior mobility, a novel unmanned agricultural machinery chassis has been developed that can operate stably and efficiently under various complex terrain conditions. Initially, a new wheel-legged structure was designed by drawing inspiration from the motion principles of locust hind legs and combining them with pneumatic-hydraulic linkage mechanisms. Kinematic analysis was conducted on this wheel-legged configuration by utilizing the D-H parameter method, which revealed that its end effector has a travel range of 0-450 mm in the X-direction, 0-840 mm in the Y-direction, and 0-770 mm in the Z-direction, thereby providing the structural foundation for features such as independent four-wheel steering, adjustable wheel track, automatic vehicle body elevation adjustment, and maintaining a level body posture on different slopes. Subsequently, theoretical analysis and structural parameter calculations were completed to design each subsystem of the unmanned chassis. Further, kinematic analysis of the wheel-legged unmanned chassis was carried out using RecurDyn, which substantiated the feasibility of achieving functions like slope leveling and autonomous obstacle negotiation. An omnidirectional leveling control system was also established, taking into account factors such as pitch angle, roll angle, virtual leg deployment, and center of gravity height. Joint simulations using Adams and Matlab were performed on the wheel-legged unmanned chassis, comparing its leveling performance with that of a PID control system. The results indicated that the maximum absolute value of leveling error was 1.08° for the pitch angle and 1.19° for the roll angle, while the standard deviations were 0.21647° for the pitch angle and 0.17622° for the roll angle, demonstrating that the wheel-legged unmanned chassis surpassed the PID control system in leveling performance, thus validating the correctness and feasibility of its full-directional body posture leveling control in complex environments. Finally, the wheel-legged unmanned chassis was fabricated, assembled, and subjected to in-place leveling and ground clearance adjustment tests. The experimental outcomes showed that the vehicle was capable of achieving in-place leveling with response speed and leveling accuracy meeting practical operational requirements under the action of the posture control system. Moreover, the adjustable ground clearance proved sufficient to meet the demands of actual obstacle crossing scenarios.

Keywords: hilly areas, bionic machinery, wheel-legged vehicle, posture control, prototype testing

DOI: 10.25165/j.ijabe.20241705.8383

Citation:Pan K X, Zhang Q, Wang Z Y, Wang S B, Zhou A B, You Y, et al. Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas. Int J Agric & Biol Eng, 2024; 17(5): 151–162.