轮腿混合四足机器人六自由度并联机械腿设计

发布时间：2018-03-11 07:53

本文选题：机器人　切入点：运动学　出处：《农业工程学报》2017年11期 　论文类型：期刊论文

【摘要】：为了设计一种可以同时实现迈步行走、有动力轮式机动、无动力轮旱冰式滑行3种运动方式的轮腿混合农业四足机器人,提出了一种基于3-UPS机构的六自由度并联机械腿,选取结构参数并给出设计方案。首先,通过矢量回路法推导出机构的位置反解方程,并建立机构的速度映射模型;采用搜索法对机构的工作空间进行分析,并绘制出工作空间三维分布图,揭示出机构结构参数和工作空间之间的关系;基于速度映射模型绘制出雅可比矩阵条件数在工作空间内的三维分布图。接着,定义了一组运动灵活性评价指标,对机械腿的机构进行运动灵活性分析,并绘制出结构参数与运动灵活性评价指标关系曲线,揭示出结构参数对机构运动灵活性的影响规律。然后,基于工作空间特性和运动灵活性评价指标,采用蒙特卡罗法进行结构参数设计,通过建立各结构参数的概率模型空间选取了一组综合性能较好的结构参数:机械腿固定平台万向副分布直角边长为230 mm,运动平台球面副分布直角边长为70 mm,支链最大直径为60 mm,各支链套筒和伸缩杆长度均为500 mm。最后,采用选取的结构参数设计出机械腿及轮腿混合四足机器人整体的虚拟样机,并对虚拟样机进行迈步运动仿真,结果表明:机械腿的各驱动参数变化非常平稳且峰值均在合理范围之内,证明机械腿的设计方案和结构参数较为合理。该研究为拓展轮腿混合四足机器人在农业工程领域的应用提供了参考。
[Abstract]:In order to design a kind of wheel-leg hybrid agricultural quadruped robot which can walk at the same time, have power wheeled maneuvering and skidding with no power roller ice, a 6-DOF parallel mechanical leg based on 3-UPS mechanism is proposed. The structural parameters are selected and the design scheme is given. Firstly, the position inverse solution equation of the mechanism is derived by the vector loop method, and the velocity mapping model of the mechanism is established, and the workspace of the mechanism is analyzed by the search method. The workspace 3D distribution map is drawn to reveal the relationship between the mechanism structure parameters and the workspace, and the Jacobian matrix condition number in the workspace is drawn based on the velocity mapping model. This paper defines a set of evaluation indexes of motion flexibility, analyzes the motion flexibility of the mechanism of mechanical leg, and draws the curve of the relationship between the structural parameters and the evaluation index of motion flexibility. The influence of structural parameters on the kinematic flexibility of the mechanism is revealed. Secondly, the Monte Carlo method is used to design the structural parameters based on the workspace characteristics and the evaluation index of the kinematic flexibility. By establishing the probability model space of each structural parameter, a group of structural parameters with better comprehensive performance are selected: the rectangular side length of the universal pair distribution is 230 mm, the right angle side length of the spherical pair distribution is 70 mm, the branch chain is also selected. The maximum diameter is 60 mm, and the length of each branch sleeve and telescopic rod is 500 mm. finally, The virtual prototype of the hybrid quadruped robot with mechanical leg and wheel leg is designed by using the selected structural parameters, and the virtual prototype is simulated with step motion. The results show that the driving parameters of the leg vary smoothly and the peak values are within a reasonable range. It is proved that the design scheme and structural parameters of the mechanical leg are reasonable. The research provides a reference for the application of the wheel-leg hybrid quadruped robot in the field of agricultural engineering.
【作者单位】：燕山大学河北省并联机器人与机电系统实验室;河北科技师范学院城市建设学院;燕山大学先进锻压成形技术与科学教育部重点实验室;
【基金】：国家科技支撑计划项目(2015BAI06B01) 河北省高等学校科学技术研究青年基金项目(QN2015185) 河北科技师范学院博士启动基金项目(2015YB004)
【分类号】：TP242

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