Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas
Keywords:
hilly areas, bionic machinery, wheel-legged vehicle, posture control, prototype testingAbstract
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 grasshopper 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.References
[1] Luo X W. Reflections on the development of agricultural mechanization in hilly and mountainous areas. Agricultural Machinery Technology Promotion, 2011; 2: 17–20. (in Chinese)
[2] Luo X W, Liao J, Zang Y, Qu Y G, Wang P. The development direction of agricultural production in China: from mechanization to intelligence. China Engineering Science, 2022; 24(1): 46–54. (in Chinese)
[3] Yang Z H. The current situation, problems and countermeasures of agricultural mechanization in hilly and mountainous areas. Southern Agricultural Machinery, 2022; 53(20): 72–74. (in Chinese)
[4] Zhai J H, Wang Y Q, Wei X H. Design and simulation of a search and rescue robot based on a wheel-leg detection vehicle structure. Mechanical Transmission, 2022; 46(2): 48–54. (in Chinese)
[5] Wang Y Q. Design and research of a search and rescue robot based on a wheel-leg swing arm suspension structure. Master’s Thesis, Liaoning University of Engineering and Technology, Liaoning, China, 2021. (in Chinese)
[6] Ning M, Xue B L, Ma Z F. Design, analysis, and experiment for rescue robot with wheel-legged structure. Mathematical Problems in Engineering: Theory, Methods and Applications, 2017; 5: 1–16.
[7] Yan H. Research on composite wheel-leg robots for special forestry needs. Master’s Thesis, Beijing Forestry University, Beijing, 2019. (in Chinese)
[8] Sun Z B, Zhang D, Li Z L, Yan S, Wang N. Optimum design and trafficability analysis for an articulated wheel-legged forestry chassis. J. Mech. Des, 2022; 144(1): 013301.
[9] Li Z L, Liu J H, Sun Z B, Yu C Z. Dynamic research and analysis for a wheel-legged harvester chassis during tilting process. Advances in Mechanical Engineering, 2019; 11(6): 1687814019855453.
[10] Wang X W, Yuan S Q, Jia W D. Current situation and development of agricultural mechanization in hilly and mountainous areas. Journal of Drainage and Irrigation Machinery Engineering, 2022; 40(5): 535–540. (in Chinese)
[11] Brian H. Athlete: A Mobility and Manipulation System for the Moon. 2007 IEEE Aerospace Conference, 2007; 6(9): 3086–3095.
[12] Grand C, Benamar F, Plumet F. Motion kinematics analysis of wheeled–legged rover over 3D surface with posture adaptation. Mechanism and Machine Theory, 2009; 45(3): 477–495.
[13] Wang X W, Wang S K, Wang J Z. Electric parallel six wheeled legged robot based on a heteromorphic Stewart platform. Journal of Mechanical Transmission, 2020; 56(13): 84–92. (in Chinese)
[14] Kang X, Wang S K, Wang J Z. High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain. Chinese Journal of Aeronautics, 2021; 34(5): 652–665.
[15] Wu D, Xu X, Sun C, Jiang Y. Planning research on leg movement of a wheel terrain vehicle. IEEE International Conference on Electrical Engineering and Mechatronics Technology (ICEEMT). IEEE, 2021; pp.60-65. doi: 10.1109/ICEEMT52412.2021.9601860.
[16] Bouton A, Grand C, Benamar F. Motion control of a compliant wheel-leg robot for rough terrain crossing. IEEE International Conference on Robotics and Automation (ICRA), 2016; pp.2846–2851. doi: 10.1109/ICRA.2016.7487448.
[17] Xie Y M, Andrew A. Two degree of freedom control synthesis with applications to agricultural systems. Journal of Dynamic Systems, Measurement, and Control, 2014; 136(5): 051006.
[18] Ahmadi I. Dynamics of tractor lateral overturn on slopes under the influence of position disturbances: Model development. Journal of Terramechanics, 2011; 48(5): 339–346.
[19] Qi W C, Li Y M, Tao J F. Design and Experiment of an active attitude adjustment system for tractors in hilly mountains. Transactions of the CSAM, 2019; 50(7): 381–388. (in Chinese)
[20] Sun J B, Chu G P, Pan G T, Meng C, Liu Z J, Yang F Z. Design and performance test of remote control omnidirectional leveling mountainous tracked tractors. Transactions of the CSAM, 2021; 52(5): 358–369. (in Chinese)
[21] Jin C Q, Yang T X, Liu G W, Wang T G, Chen M, Liu Z. Design and testing of omnidirectional leveling chassis for tracked combine harvesters. Transactions of the CSAM, 2020; 51(11): 393–402. (in Chinese)
[22] Liu G H, Hao C Y, Li M Z, Sun H. Design and simulation of posture control system for semi-active suspension mountain tractors. Transactions of the CSAM, 2022; 53(S2): 338–348. (in Chinese)
[2] Luo X W, Liao J, Zang Y, Qu Y G, Wang P. The development direction of agricultural production in China: from mechanization to intelligence. China Engineering Science, 2022; 24(1): 46–54. (in Chinese)
[3] Yang Z H. The current situation, problems and countermeasures of agricultural mechanization in hilly and mountainous areas. Southern Agricultural Machinery, 2022; 53(20): 72–74. (in Chinese)
[4] Zhai J H, Wang Y Q, Wei X H. Design and simulation of a search and rescue robot based on a wheel-leg detection vehicle structure. Mechanical Transmission, 2022; 46(2): 48–54. (in Chinese)
[5] Wang Y Q. Design and research of a search and rescue robot based on a wheel-leg swing arm suspension structure. Master’s Thesis, Liaoning University of Engineering and Technology, Liaoning, China, 2021. (in Chinese)
[6] Ning M, Xue B L, Ma Z F. Design, analysis, and experiment for rescue robot with wheel-legged structure. Mathematical Problems in Engineering: Theory, Methods and Applications, 2017; 5: 1–16.
[7] Yan H. Research on composite wheel-leg robots for special forestry needs. Master’s Thesis, Beijing Forestry University, Beijing, 2019. (in Chinese)
[8] Sun Z B, Zhang D, Li Z L, Yan S, Wang N. Optimum design and trafficability analysis for an articulated wheel-legged forestry chassis. J. Mech. Des, 2022; 144(1): 013301.
[9] Li Z L, Liu J H, Sun Z B, Yu C Z. Dynamic research and analysis for a wheel-legged harvester chassis during tilting process. Advances in Mechanical Engineering, 2019; 11(6): 1687814019855453.
[10] Wang X W, Yuan S Q, Jia W D. Current situation and development of agricultural mechanization in hilly and mountainous areas. Journal of Drainage and Irrigation Machinery Engineering, 2022; 40(5): 535–540. (in Chinese)
[11] Brian H. Athlete: A Mobility and Manipulation System for the Moon. 2007 IEEE Aerospace Conference, 2007; 6(9): 3086–3095.
[12] Grand C, Benamar F, Plumet F. Motion kinematics analysis of wheeled–legged rover over 3D surface with posture adaptation. Mechanism and Machine Theory, 2009; 45(3): 477–495.
[13] Wang X W, Wang S K, Wang J Z. Electric parallel six wheeled legged robot based on a heteromorphic Stewart platform. Journal of Mechanical Transmission, 2020; 56(13): 84–92. (in Chinese)
[14] Kang X, Wang S K, Wang J Z. High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain. Chinese Journal of Aeronautics, 2021; 34(5): 652–665.
[15] Wu D, Xu X, Sun C, Jiang Y. Planning research on leg movement of a wheel terrain vehicle. IEEE International Conference on Electrical Engineering and Mechatronics Technology (ICEEMT). IEEE, 2021; pp.60-65. doi: 10.1109/ICEEMT52412.2021.9601860.
[16] Bouton A, Grand C, Benamar F. Motion control of a compliant wheel-leg robot for rough terrain crossing. IEEE International Conference on Robotics and Automation (ICRA), 2016; pp.2846–2851. doi: 10.1109/ICRA.2016.7487448.
[17] Xie Y M, Andrew A. Two degree of freedom control synthesis with applications to agricultural systems. Journal of Dynamic Systems, Measurement, and Control, 2014; 136(5): 051006.
[18] Ahmadi I. Dynamics of tractor lateral overturn on slopes under the influence of position disturbances: Model development. Journal of Terramechanics, 2011; 48(5): 339–346.
[19] Qi W C, Li Y M, Tao J F. Design and Experiment of an active attitude adjustment system for tractors in hilly mountains. Transactions of the CSAM, 2019; 50(7): 381–388. (in Chinese)
[20] Sun J B, Chu G P, Pan G T, Meng C, Liu Z J, Yang F Z. Design and performance test of remote control omnidirectional leveling mountainous tracked tractors. Transactions of the CSAM, 2021; 52(5): 358–369. (in Chinese)
[21] Jin C Q, Yang T X, Liu G W, Wang T G, Chen M, Liu Z. Design and testing of omnidirectional leveling chassis for tracked combine harvesters. Transactions of the CSAM, 2020; 51(11): 393–402. (in Chinese)
[22] Liu G H, Hao C Y, Li M Z, Sun H. Design and simulation of posture control system for semi-active suspension mountain tractors. Transactions of the CSAM, 2022; 53(S2): 338–348. (in Chinese)
Downloads
Published
2024-11-08
How to Cite
Pan, K., Zhang, Q., Wang, Z., Wang, S., Zhou, A., You, Y., & Wang, D. (2024). Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas. International Journal of Agricultural and Biological Engineering, 17(5), 151–162. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/8383
Issue
Section
Power and Machinery Systems
License
IJABE is an international peer reviewed open access journal, adopting Creative Commons Copyright Notices as follows.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
