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Modeling and invariably horizontal control for the parallel mobile rescue robot based on PSO-CPG algorithm

Published online by Cambridge University Press:  30 August 2023

Wei Chen Open the ORCID record for Wei Chen [Opens in a new window] ,
Hao Cheng Open the ORCID record for Hao Cheng [Opens in a new window] ,
Wenchang Zhang ,
Hang Wu ,
Xuefei Liu  and
Yutao Men
Wei Chen
Affiliation:
Tianjin Key Laboratory of Advanced Mechatronic System Design and Intelligent Control, National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
Hao Cheng
Affiliation:
Tianjin Key Laboratory of Advanced Mechatronic System Design and Intelligent Control, National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
Wenchang Zhang*
Affiliation:
Institute of Medical Support Technology, Academy of System Engineering, Academy of Military Sciences, Tianjin, China
Hang Wu
Affiliation:
Institute of Medical Support Technology, Academy of System Engineering, Academy of Military Sciences, Tianjin, China
Xuefei Liu
Affiliation:
Tianjin Key Laboratory of Advanced Mechatronic System Design and Intelligent Control, National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
Yutao Men
Affiliation:
Tianjin Key Laboratory of Advanced Mechatronic System Design and Intelligent Control, National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China
*
Corresponding author: Wenchang Zhang; Email: wzszwc@163.com
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Abstract

A walking robot consisting of double Stewarts parallel legs was designed by our research team in the past time, which was mainly used for the transportation of the wounded after the disaster. In order to promote stability of control locomotion and ensure invariably horizontal state of the robot platform in the process of motion, the central pattern generator (CPG) based on particle swarm optimization (PSO) is presented to optimize the kinematic model. The purpose of optimization is to solve the hysteresis problem of displacement variation among the electric cylinders. Moreover, the dynamic model of the robot is established, which can provide mechanical basis for the feedback of control signal and make the robot move stably. The simulation results show that the displacement hysteresis problem of the electric cylinders is solved well. Meanwhile, compared with simulation results based on GA-CPG method, it is demonstrated that the robot motion planned using PSO-CPG method has better motion stability and can avoid the impact of legs landing during the transition phase of the motion cycle. The experimental results show that the platform on the robot can maintain an invariably horizontal state, and the locomotion is more stable. It verifies the feasibility of PSO-CPG model and the correctness of the dynamic model of the parallel mobile rescue robot.

Keywords

parallel mobile robotinvariably horizontal controlcentral pattern generatorparticle swarm optimizationkinematicsdynamic model
Type
Research Article
Information
Robotica , Volume 41 , Issue 11 , November 2023 , pp. 3501 - 3523
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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