The invention belongs to the technical field of foot action mechanics. The invention discloses a method for constructing a foot-ground contact model of a foot-type robot applied to muddy terrains, which can improve the movement stability of the foot-type robot under the muddy terrains, and specifically comprises the following steps of: firstly, connecting a Burgers model, a nonlinear viscoplasticity model and a nonlinear spring model in series according to the viscoplasticity, viscoelasticity, elasticity and plastic deformation characteristics of the muddy terrains; a discrete element model describing the deformation characteristics is obtained. Then, based on the Mohr-Coulomb theory in soil mechanics, considering the influence of the soil bulk density, the water content and the clay content change of the mud land on the soil cohesion from the perspective of soil mechanics, and proposing and establishing a relational expression between the soil bulk density, the water content and the clay content change and the viscosity coefficient in the mud land discrete element model; and finally, according to the magnitude and the change trend of the normal force and the tangential force of the foot end, the foot-ground contact process is divided into three stages of foot falling, foot lifting and separation, and the transition process from foot falling to foot lifting is set as an independent stage. Wherein the foot falling stage and the foot lifting stage are further subdivided into an elastic deformation stage and a plastic deformation stage according to the deformation form of the mud land. In different stages, models describing corresponding characteristics in the muddy ground discrete element model are applied to construct a foot ground contact model. According to the method, the modeling precision of the foot-ground contact model of the muddy terrain can be improved, so that the foot type robot has higher adaptability under the muddy terrain.

    本发明属于足地作用力学技术领域。本发明公开了一种应用于泥地地形的足式机器人足地接触模型构建方法,可提高足式机器人在泥地地形下运动的稳定性,具体方法为:首先,根据泥地的粘塑性、粘弹性、弹性和塑性变形特性,将Burgers模型、非线性黏塑性模型和非线性弹簧模型串联,得到描述这些变形特性的离散元模型。然后,基于土壤力学中的摩尔‑库伦理论,从土壤力学角度考虑泥地的土壤容重、含水量和黏粒含量变化对土壤内聚力的影响,提出并建立这三者与泥地离散元模型中黏滞系数的关系式。最后,根据足端法向力和切向力的大小及其变化趋势,将足地接触过程分为落足、抬足和脱离三个阶段,并将落足到抬足的过渡过程设定为一个独立阶段。其中,落足和抬足两个阶段根据泥地的变形形式进一步细分为弹性变形和塑性变形两个阶段。不同阶段应用泥地离散元模型中描述相应特性的模型来构建足地接触模型。本发明可提高泥地地形的足地接触模型建模精度,使足式机器人在泥地地形下有更高的适应性。


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    Title :

    Foot robot foot-ground contact model construction method applied to muddy terrain


    Additional title:

    一种应用于泥地地形的足式机器人足地接触模型构建方法


    Contributors:
    YOU BO (author) / PAN JIANMING (author) / CHENG CHENCHEN (author) / LI JIAYU (author) / CHEN CHEN (author)

    Publication date :

    2024-12-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B62D MOTOR VEHICLES , Motorfahrzeuge



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