Research On Acceleration Strategy Of The Closed Five-bow-shaped-bar Linkage Robot Based On Energy Consumption

Mobile robots are widely used in many complex environments to perform tasks impossible for human beings.The problem of poor endurance limits the development and application of mobile robot technology to a certain extent.Motion energy consumption of mobile robots,that is robot motion planning,is becoming a research hotspot.As a new type of rolling mobile robot,the closed five-bow-shaped-bar linkage robot has viscous friction in many joints,which leads to the decrease of its endurance.Based on the kinematics and dynamics analysis of the closed five-bow-shaped-bar linkage robot,this paper focused on the trajectory planning of the closed five-bow-shaped-bar linkage robot rolling along the linear acceleration,the effect of the maximum rolling acceleration of the modified trapezoidal acceleration curve on the total energy consumption of the system,and the effect of the potential energy change strategy on the total energy consumption of the system.Specific research contents are as follows:Firstly,the mechanical structure and working principle of the closed five-bow-shaped-bar linkage robot were introduced in detail,and its linear rolling kinematics model was established by means of vector method.The angular motion space of the active joints and the total centroid motion space of the system were analyzed.On this basis,the dynamic model of the robot was established,and the Lagrange equation with dissipation function was deduced.It lays a foundation for the following linear acceleration rolling trajectory planning and motion energy consumption analysis of the closed five-bow-shaped-bar linkage robot.In the study of linear rolling trajectory planning of the closed five-bow-shaped-bar linkage robot,the equivalent rolling motion models of constant potential energy and variable potential energy were established by using the rolling strategies of constant potential energy and variable potential energy respectively.The rolling angle of the system was planned by using the modified trapezoidal acceleration curve with adjustable maximum rolling acceleration,and the active joint trajectories was obtained by inverse kinematics solution through numerical method and then the active joint trajectories function can be obtained by interpolating the discrete sequence with cubic spline function.On this basis,the inverse solution of the dynamic equation considering the effect of joint friction was used to obtain the driving moment of the active joint,and then the total energy consumption of the system can be calculated.The influence of the maximum rollover acceleration on the total energy consumption of the system under constant potential energy and potential energy rolling strategy was analyzed by numerical calculation.The maximum rollover acceleration and active joint trajectory based on the optimal energy consumption were obtained.In ADAMS software,a virtual prototype of the closed five-bow-shaped-bar linkage robot was built,and the theoretical results and simulation results of rolling angle trajectory,active joint driving torques and active joint driving power were compared in the simulation experiment of linear accelerated rolling motion,which verified the correctness of the above theoretical analysis.