Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth rover BJTUBOT
Yifan WU, Sheng GUO, Luquan LI, Lianzheng NIU, Xiao LI
Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth rover BJTUBOT
Earth rover is a class of emerging wheeled-leg robots for nature exploration. At present, few methods for these robots’ leg design utilize a side-mounted spatial parallel mechanism. Thus, this paper presents a complete design process of a novel 5-degree-of-freedom (5-DOF) hybrid leg mechanism for our quadruped earth rover BJTUBOT. First, a general approach is proposed for constructing the novel leg mechanism. Subsequently, by evaluating the basic locomotion task (LT) of the rover based on screw theory, we determine the desired motion characteristic of the side-mounted leg and carry out its two feasible configurations. With regard to the synthesis method of the parallel mechanism, a family of concise hybrid leg mechanisms using the 6-DOF limbs and an L1F1C limb (which can provide a constraint force and a couple) is designed. In verifying the motion characteristics of this kind of leg, we select a typical (3-UPRU&RRRR)&R mechanism and then analyze its kinematic model, singularities, velocity mapping, workspace, dexterity, statics, and kinetostatic performance. Furthermore, the virtual quadruped rover equipped with this innovative leg mechanism is built. Various basic and specific LTs of the rover are demonstrated by simulation, which indicates that the flexibility of the legs can help the rover achieve multitasking.
design synthesis / parallel mechanism / hybrid leg mechanism / screw theory / quadruped robot
[1] |
Schilling K , Jungius C . Mobile robots for planetary exploration. IFAC Proceedings Volumes, 1995, 28(11): 109–119
CrossRef
Google scholar
|
[2] |
Lindemann R A, Voorhees C J. Mars exploration rover mobility assembly design, test and performance. In: Proceedings of 2005 IEEE International Conference on Systems, Man and Cybernetics. Waikoloa: IEEE, 2005, 450–455
|
[3] |
Arvidson R E , Iagnemma K D , Maimone M , Fraeman A A , Zhou F , Heverly M C , Bellutta P , Rubin D , Stein N T , Grotzinger J P , Vasavada A R . Mars science laboratory curiosity rover megaripple crossings up to Sol 710 in gale crater. Journal of Field Robotics, 2017, 34(3): 495–518
CrossRef
Google scholar
|
[4] |
Li C L, Liu J J, Ren X, Zuo W, Tan X, Wen W B, Li H, Mu L L, Su Y, Zhang H B, Yan J, Ouyang Z Y. The Chang’E 3 mission overview. Space Science Reviews, 2015, 190(1–4): 85–101
CrossRef
Google scholar
|
[5] |
Tian H , Zhang T Y , Jia Y , Peng S , Yan C L . Zhurong: features and mission of China’s first Mars rover. The Innovation, 2021, 2(3): 100121
CrossRef
Google scholar
|
[6] |
Patel N , Slade R , Clemmet J . The ExoMars rover locomotion subsystem. Journal of Terramechanics, 2010, 47(4): 227–242
CrossRef
Google scholar
|
[7] |
Hutter M, Gehring C, Jud D, Lauber A, Bellicoso C D, Tsounis V, Hwangbo J, Bodie K, Fankhauser P, Bloesch M, Diethelm R, Bachmann S, Melzer A, Hoepflinger M. ANYmal—a highly mobile and dynamic quadrupedal robot. In: Proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Daejeon: IEEE, 2016, 38–44
CrossRef
Google scholar
|
[8] |
Buchanan R , Wellhausen L , Bjelonic M , Bandyopadhyay T , Kottege N , Hutter M . Perceptive whole-body planning for multilegged robots in confined spaces. Journal of Field Robotics, 2021, 38(1): 68–84
CrossRef
Google scholar
|
[9] |
Lee J , Hwangbo J , Wellhausen L , Koltun V , Hutter M . Learning quadrupedal locomotion over challenging terrain. Science Robotics, 2020, 5(47): eabc5986
CrossRef
Google scholar
|
[10] |
Bartsch S , Birnschein T , Römmermann M , Hilljegerdes J , Kühn D , Kirchner F . Development of the six-legged walking and climbing robot spaceclimber. Journal of Field Robotics, 2012, 29(3): 506–532
CrossRef
Google scholar
|
[11] |
Bartsch S, Manz M, Kampmann P, Dettmann A, Hanff H, Langosz M, von Szadkowski K, Hilljegerdes J, Simnofske M, Kloss P, Meder M, Kirchner F. Development and control of the multi-legged robot MANTIS. In: Proceedings of ISR 2016 the 47th International Symposium on Robotics. Munich: IEEE, 2016, 1–8
|
[12] |
Endo G, Hirose S. Study on Roller-Walker (multi-mode steering control and self-contained locomotion). In: Proceedings of 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). San Francisco: IEEE, 2000, 2808–2814
|
[13] |
Geilinger M , Poranne R , Desai R , Thomaszewski B , Coros S . Skaterbots: optimization-based design and motion synthesis for robotic creatures with legs and wheels. ACM Transactions on Graphics, 2018, 37(4): 1–12
CrossRef
Google scholar
|
[14] |
Geilinger M , Winberg S , Coros S . A computational framework for designing skilled legged-wheeled robots. IEEE Robotics and Automation Letters, 2020, 5(2): 3674–3681
CrossRef
Google scholar
|
[15] |
Bjelonic M , Bellicoso C D , de Viragh Y , Sako D , Tresoldi F D , Jenelten F , Hutter M . Keep rollin′—whole-body motion control and planning for wheeled quadrupedal robots. IEEE Robotics and Automation Letters, 2019, 4(2): 2116–2123
CrossRef
Google scholar
|
[16] |
Medeiros V S , Jelavic E , Bjelonic M , Siegwart R , Meggiolaro M A , Hutter M . Trajectory optimization for wheeled-legged quadrupedal robots driving in challenging terrain. IEEE Robotics and Automation Letters, 2020, 5(3): 4172–4179
CrossRef
Google scholar
|
[17] |
Pan Y , Gao F . A new six-parallel-legged walking robot for drilling holes on the fuselage. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2014, 228(4): 753–764
CrossRef
Google scholar
|
[18] |
Chen X B , Gao F , Qi C K , Tian X H , Wei L . Kinematic analysis and motion planning of a quadruped robot with partially faulty actuators. Mechanism and Machine Theory, 2015, 94: 64–79
CrossRef
Google scholar
|
[19] |
Giewont S, Sahin F. Delta-Quad: an omnidirectional quadruped implementation using parallel jointed leg architecture. In: Proceedings of 2017 the 12th System of Systems Engineering Conference (SoSE). Waikoloa: IEEE, 2017, 1–6
CrossRef
Google scholar
|
[20] |
Peng H , Wang J Z , Wang S K , Shen W , Shi D W , Liu D C . Coordinated motion control for a wheel-leg robot with speed consensus strategy. IEEE/ASME Transactions on Mechatronics, 2020, 25(3): 1366–1376
CrossRef
Google scholar
|
[21] |
Li J H , Wang J Z , Wang S K , Peng H , Wang B M , Qi W , Zhang L B , Su H . Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction. Assembly Automation, 2020, 40(5): 675–687
CrossRef
Google scholar
|
[22] |
Lin R F , Guo W Z , Li M . Novel design of legged mobile landers with decoupled landing and walking functions containing a rhombus joint. Journal of Mechanisms and Robotics, 2018, 10(6): 061017
CrossRef
Google scholar
|
[23] |
Lin R F , Guo W Z . Creative design of legged mobile landers with multi-loop chains based on truss-mechanism transformation method. Journal of Mechanisms and Robotics, 2021, 13(1): 011013
CrossRef
Google scholar
|
[24] |
Campos A , Budde C , Hesselbach J . A type synthesis method for hybrid robot structures. Mechanism and Machine Theory, 2008, 43(8): 984–995
CrossRef
Google scholar
|
[25] |
Dong C L , Liu H T , Yue W , Huang T . Stiffness modeling and analysis of a novel 5-DOF hybrid robot. Mechanism and Machine Theory, 2018, 125: 80–93
CrossRef
Google scholar
|
[26] |
Wen K F , Nguyen T S , Harton D , Laliberté T , Gosselin C . A backdrivable kinematically redundant (6+3)-degree-of-freedom hybrid parallel robot for intuitive sensorless physical human–robot interaction. IEEE Transactions on Robotics, 2021, 37(4): 1222–1238
CrossRef
Google scholar
|
[27] |
Smith J A, Sharf I, Trentini M. PAW: a hybrid wheeled-leg robot. In: Proceedings of 2006 IEEE International Conference on Robotics and Automation. Orlando: IEEE, 2006, 4043–4048
CrossRef
Google scholar
|
[28] |
He J , Gao F . Type synthesis for bionic quadruped walking robots. Journal of Bionics Engineering, 2015, 12(4): 527–538
CrossRef
Google scholar
|
[29] |
Zhang J Z , Jin Z L , Feng H B . Type synthesis of a 3-mixed-DOF protectable leg mechanism of a firefighting multi-legged robot based on GF set theory. Mechanism and Machine Theory, 2018, 130: 567–584
CrossRef
Google scholar
|
[30] |
Cordes F, Dettmann A, Kirchner F. Locomotion modes for a hybrid wheeled-leg planetary rover. In: Proceedings of 2011 IEEE International Conference on Robotics and Biomimetics. Karon Beach: IEEE, 2011, 2586–2592
CrossRef
Google scholar
|
[31] |
Cordes F , Kirchner F , Babu A . Design and field testing of a rover with an actively articulated suspension system in a Mars analog terrain. Journal of Field Robotics, 2018, 35(7): 1149–1181
CrossRef
Google scholar
|
[32] |
Fang Y F , Tsai L W . Enumeration of a class of overconstrained mechanisms using the theory of reciprocal screws. Mechanism and Machine Theory, 2004, 39(11): 1175–1187
CrossRef
Google scholar
|
[33] |
Gan D M , Liao Q Z , Dai J S , Wei S M . Design and kinematics analysis of a new 3CCC parallel mechanism. Robotica, 2010, 28(7): 1065–1072
CrossRef
Google scholar
|
[34] |
Kong X W , Gosselin C M . Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory. IEEE Transactions on Robotics and Automation, 2004, 20(2): 181–190
CrossRef
Google scholar
|
[35] |
Kong X W , Gosselin C M . Type synthesis of 5-DOF parallel manipulators based on screw theory. Journal of Robotic Systems, 2005, 22(10): 535–547
CrossRef
Google scholar
|
[36] |
Habibi H , Shirazi K H , Shishesaz M . Roll steer minimization of McPherson-strut suspension system using genetic algorithm method. Mechanism and Machine Theory, 2008, 43(1): 57–67
CrossRef
Google scholar
|
[37] |
Cherian V , Jalili N , Ayglon V . Modelling, simulation, and experimental verification of the kinematics and dynamics of a double wishbone suspension configuration. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2009, 223(10): 1239–1262
CrossRef
Google scholar
|
[38] |
Kang H Y , Suh C H . Synthesis and analysis of spherical-cylindrical (SC) link in the McPherson strut suspension mechanism. Journal of Mechanical Design, 1994, 116(2): 599–606
CrossRef
Google scholar
|
[39] |
Fang Y F , Tsai L W . Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures. The International Journal of Robotics Research, 2002, 21(9): 799–810
CrossRef
Google scholar
|
[40] |
Li Q C, Huang Z. Type synthesis of 4-DOF parallel manipulators. In: Proceedings of 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). Taipei: IEEE, 2003, 755–760
CrossRef
Google scholar
|
[41] |
Zhang D , Gosselin C M . Kinetostatic modeling of N-DOF parallel mechanisms with a passive constraining leg and prismatic actuators. Journal of Mechanical Design, 2001, 123(3): 375–381
CrossRef
Google scholar
|
[42] |
Zhang D , Gosselin C M . Kinetostatic modeling of parallel mechanisms with a passive constraining leg and revolute actuators. Mechanism and Machine Theory, 2002, 37(6): 599–617
CrossRef
Google scholar
|
[43] |
Joshi S A , Tsai L W . Jacobian analysis of limited-DOF parallel manipulators. Journal of Mechanical Design, 2002, 124(2): 254–258
CrossRef
Google scholar
|
[44] |
Gosselin C , Angeles J . Singularity analysis of closed-loop kinematic chains. IEEE Transactions on Robotics and Automation, 1990, 6(3): 281–290
CrossRef
Google scholar
|
[45] |
Angeles J , López-Cajún C S . Kinematic isotropy and the conditioning index of serial robotic manipulators. The International Journal of Robotics Research, 1992, 11(6): 560–571
CrossRef
Google scholar
|
[46] |
Gosselin C , Angeles J . A global performance index for the kinematic optimization of robotic manipulators. Journal of Mechanical Design, 1991, 113(3): 220–226
CrossRef
Google scholar
|
Abbreviations | |
C | Cylindrical joint |
COM | Center of mass |
DOF | Degree-of-freedom |
GCI | Global conditioning index |
L1F1C | Passive constraining limb provides both a constraint force and a constraint couple |
LCI | Local condition index |
LT | Locomotion task |
MF | Motion form |
P | Prismatic joint |
P | Prismatic joint with actuation |
R | Revolute |
R | Revolute joint with actuation |
R1 | Type-1 revolute joint |
R2 | Type-2 revolute joint |
S | Spherical joint |
T | Translation |
U | Universal joint |
Variables | |
ai | Vector |
ai in the base coordinate | |
Frobenius norm of matrix Am×n | |
bi | Vector |
bi in the base coordinate | |
d | Dimension of the wrench system |
d | Vector |
d' | Vector |
e | Vector |
e' | Vector |
f | Constraint force |
F | A support force or static friction |
F1 | Support force along the y-axis |
F2, F3 | Static frictions along the x- and z-axis, respectively |
F1(t), F2(t), F3(t) | Time-varying functions of F1, F2, and F3, respectively |
G | Gravity force |
h | Height of the side-mounted base along the y-axis |
J | Jacobian matrix of the 3-UPRU&RRRR parallel mechanism |
Jc_RRRR | Constraint Jacobian for the RRRR limbs |
Jk_UPRU | Actuation Jacobian for the UPRU limbs |
Linear velocity mapping part of J | |
Angular velocity mapping part of J | |
k | Vector |
k in the base coordinate | |
k in the moving platform coordinate | |
k in the wheel coordinate | |
Condition number of the Jacobian matrix J | |
li | Length of the vector |
Vector | |
Linear velocity of the P joint | |
lmax | Maximum length of the P joint |
lmin | Minimum length of the P joint |
Vector which contains all velocities of the P joints | |
m | Constraint couple |
M | Torque caused by friction |
Time-varying function of M | |
N | Support force |
OB | Original point of the base coordinate system |
OP | Original point of the moving platform coordinate system |
OW | Original point of the leg-end coordinate system |
p | Vector |
pW | Vector |
Position vector of the leg-end in the base coordinate | |
Intensity of the jth joint in the ith limb | |
Velocity vector of all joints | |
r | Location vector of the twist $ |
ri | Location vector of the ith twist or screw $i |
Location vector of the dth constraint screw | |
Rotation matrix from the moving platform frame to the base frame | |
Rotation matrix from the leg-end frame to the base frame | |
Rotation matrix from the leg-end frame to the moving platform frame | |
Inverse of | |
s | Direction vector of the twist $ |
si | Direction vector of the ith twist or screw $i |
Direction vector of | |
Direction vector of the dth constraint screw | |
t | Time |
uli | Unit vector of P joint |
ud | Unit vector of the linkage CD |
uli in the base coordinate | |
Vector v in the base frame | |
Linear velocity of moving platform | |
Vector v in the moving platform frame | |
Vector v in the leg-end frame | |
w | Width of the side-mounted base along the x-axis |
w | Vector |
WS | Workspcae |
x | x-axis of the base coordinate system |
Velocity in the x direction | |
xP | x-axis of the moving platform coordinate system |
Position function on the x-axis | |
Velocity of moving platform | |
y | y-axis of the base coordinate system |
Velocity in the y direction | |
yP | y-axis of the moving platform coordinate system |
Position function on the y-axis | |
z | z-axis of the base coordinate system |
zP | z-axis of the moving platform coordinate system |
α | Attitude angle about the x-axis |
Velocity of α | |
Rotation angle about the xP-axis | |
Orientation function about α' | |
β | Attitude angle about the y-axis |
Velocity of β | |
γ | Attitude angle about the z-axis |
Velocity of γ | |
γ' | Rotation angle about the zP-axis |
Orientation function about γ' | |
Value of GCI | |
, | GCI of the linear and angular motions, respectively |
θ | Rotation angle of the R joint in the RRRR limb |
Angular velocity of active R joint | |
Intensity or angular velocity of the passive joints | |
φ | Rotation angle of the steering R joint connected with the leg-end |
Angular velocity of moving platform | |
Driving velocity deviation | |
$ | A screw or a twist |
$r | A wrench system |
$i | ith twist or screw |
Unit screw of the jth joint in the ith limb | |
Instantaneous twist of the moving platform | |
dth constraint screw | |
Reciprocal screws for the ith UPRU limb | |
Velocity deviation of the moving platfrom |
/
〈 | 〉 |