闭链弓形五连杆越障能力分析与运动规划

发布时间：2018-03-05 12:36

本文选题：越障能力　切入点：运动规划　出处：《机械工程学报》2017年07期 　论文类型：期刊论文

【摘要】：为了考察闭链弓形五连杆的地形适应性,分析其越障能力并对越障过程进行运动规划。建立闭链弓形五连杆质心运动学分析模型,利用齐次变换推导了杆系质心坐标关于接触角和主动关节角的表达式。通过分析越障过程中的运动约束和几何约束,建立最大越障高度的数学模型,利用数值算法获得了最大越障高度随接触角和关节圆半径的变化曲线。根据质心可行域边界曲线内凹的特点,依照行程最短策略采用切线法来规划越障过程中系统质心运动路径,进而利用运动学逆解得到主动关节轨迹。通过样机试验验证了分析结果的正确性。
[Abstract]:In order to investigate the terrain adaptability of the closed chain arched five-bar, analyze its ability of surmounting obstacles and plan the motion of the obstacle surmounting process, a kinematic analysis model of the mass center of the closed chain arched five-bar is established. By using homogeneous transformation, the expressions of contact angle and active joint angle in the coordinate of the center of mass of the bar system are derived. By analyzing the motion and geometry constraints in the process of obstacle surmounting, the mathematical model of the maximum obstacle height is established. The curve of maximum obstacle height with contact angle and radius of joint circle is obtained by numerical method. According to the concave characteristic of boundary curve in the feasible region of centroid of mass, According to the shortest stroke strategy, the tangent method is used to plan the motion path of the center of mass in the process of obstacle crossing, and then the kinematics inverse solution is used to obtain the trajectory of the active joint. The correctness of the analysis results is verified by the prototype test.
【作者单位】：武汉纺织大学机械工程与自动化学院;华中科技大学机械科学与工程学院;
【基金】：国家自然科学基金资助项目(51275363)
【分类号】：TP242

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