六足机器人整机运动学分析及构型选择

发布时间：2018-02-23 00:09

本文关键词： 六足机器人整机构型运动学模型运动学性能　出处：《光学精密工程》2017年07期 　论文类型：期刊论文

【摘要】：六足机器人整机构型设计和整机运动学模型是机器人样机研制和行为控制的基础。利用GF集理论阐明了六足机器人整机构型设计的实质即为解决机械腿在机身平台上的布局问题,并基于仿生学原理给出了5种整机构型。介绍了一种三自由度并联驱动腿部机构,并利用闭环矢量链及求导的方法建立了基于该腿部机构的六足机器人整机运动学模型。本文给出了六足机器人整机运动学理论及仿真算例,推导出了速度、加速度的理论值及仿真值的拟合图。拟合结果表明:角速度、角加速度的理论值与仿真值的最大误差量级分别为10~(-2)(°)/s和10~(-3)(°)/s~2,验证了理论模型的正确性。基于该理论模型,绘制了不同构型下该并联驱动腿的六足机器人的工作空间分布图,选择了工作空间较大的两种整机构型,并对这两种构型下的六足机器人的运动学性能进行对比分析,选择了一种能够更好发挥该腿部机构综合运动能力的整机构型。本文的研究为该六足机器人的后续研究奠定了理论基础。所使用的整机运动学建模方法对其他六足机器人也实用。
[Abstract]:The whole mechanism design and kinematics model of hexapod robot are the basis of the research and development of robot prototype and behavior control. The essence of the whole mechanism design of hexapod robot is to solve the problem of mechanical leg in the fuselage level by using GF set theory. The layout of the stage, Based on the theory of bionics, five kinds of machine configurations are given, and a 3-DOF parallel driving leg mechanism is introduced. The kinematics model of the six-legged robot based on the leg mechanism is established by using the closed-loop vector chain and the derivation method. In this paper, the kinematics theory of the six-legged robot and its simulation example are given, and the velocity is deduced. The theoretical value of acceleration and the fitting diagram of simulation value. The fitting results show that the maximum error order of the theoretical value of angular velocity, angular acceleration and simulation value is 10 掳/ s and 10 / 10 / 3 respectively, which verifies the correctness of the theoretical model, which is based on the theoretical model. The workspace distribution of the Hexapod robot with different configurations is drawn, and two types of robot configurations with larger workspace are selected, and the kinematics performance of the Hexapod robot under these two configurations is compared and analyzed. In this paper, we choose a configuration that can better exert the comprehensive kinematic ability of the leg mechanism. The research in this paper lays a theoretical foundation for the further study of the six-legged robot. The kinematics modeling method used in this paper is applied to the other six. Foot robots are also useful.
【作者单位】：燕山大学机械工程学院;上海交通大学机械系统与振动国家重点实验室;
【基金】：国家重点基础研究发展计划(973计划)资助项目(No.2013CB035501) 机械系统与振动国家重点实验室课题资助项目(No.MSV201506) 河北省高等学校科学技术研究项目(No.QN2015185) 河北省研究生创新资助项目(No.2016SJBS011)
【分类号】：TP242

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