并联驱动机械腿运动学静力学性能评价及几何参数设计

发布时间：2018-04-17 04:35

本文选题：机器人 + 运动学　；参考：《农业工程学报》2017年21期

【摘要】：为了拓展农业机器人的作业场合,该文对一种三自由度六足腿式机器人并联驱动机械腿机构进行了运动学静力学性能评价及几何参数优选。首先,求解了足端线速度和角速度之间的耦合关联矩阵,定义了该腿部机构的运动学性能评价指标,绘制了该指标的分布图。其次,建立了腿部机构驱动静力学模型,分别利用机械腿在重力方向的最大承载力和驱动关节的最大扭矩定义了该腿部机构在软、硬地面下的驱动静力学性能评价指标。基于线性空间理论求解了驱动机构的约束雅克比矩阵,定义了约束静力学性能评价指标,通过绘制驱动与约束静力学性能评价指标分布图揭示了该腿部机构静力学性能在工作空间内的变化规律。再次,结合各项运动学和静力学性能评价指标,利用搜索法对该腿部机构几何参数进行了多目标优选,并给出了一组较好的几何参数。优选结果表明:平行四边形铰链长连杆及连接连杆的几何参数分别为330 mm和140 mm,地面接触连杆几何参数为320 mm时,腿部机构的综合性能得到改善,具体表现为运动性能提升了5.46%,重力方向最大承载力提升了18.02%,驱动关节的最大扭矩减小了6.33%。该研究结果可为该六足机器人步态规划及控制和应用提供参考。
[Abstract]:In order to expand the working situation of agricultural robot, the kinematics static performance evaluation and geometric parameter optimization of a 3-DOF six-legged parallel driven mechanical leg mechanism are presented in this paper.Firstly, the coupling correlation matrix between the velocity of the foot end line and the angular velocity is solved, the kinematics performance evaluation index of the leg mechanism is defined, and the distribution diagram of the index is drawn.Secondly, the driving statics model of the leg mechanism is established, and the evaluation indexes of the driving statics performance of the leg mechanism under the soft and hard ground are defined by using the maximum bearing capacity of the leg mechanism in the direction of gravity and the maximum torque of the driving joint.Based on the linear space theory, the constrained Jacobian matrix of the driving mechanism is solved, and the constrained static performance evaluation index is defined.By drawing the distribution chart of statics performance evaluation index of driving and constraint, the variation law of statics performance in workspace of the leg mechanism is revealed.Thirdly, combined with the kinematics and static performance evaluation indexes, the geometric parameters of the leg mechanism are selected by searching method, and a group of better geometric parameters are given.The results show that when the geometric parameters of parallelogram hinge long connecting rod and connecting rod are 330 mm and 140 mm respectively, and the ground contact link geometry parameter is 320 mm, the comprehensive performance of leg mechanism is improved.It is shown that the motion performance is increased by 5.46, the maximum bearing capacity in gravity direction is increased by 18.022and the maximum torque of the driving joint is reduced by 6.33.The results can provide reference for gait planning, control and application of the hexapod robot.
【作者单位】：燕山大学机械工程学院;
【基金】：国家重点基础研究发展计划(973计划)资助项目(2013CB035501) 机械系统与振动国家重点实验室课题资助项目(MSV201506) 河北省研究生创新资助项目(2016SJBS011)
【分类号】：TP242

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