可重构机器人多模块组合越障研究
发布时间：2018-10-05 12:32
【摘要】：针对一种具有独立运动自由度的新型模块化可重构机器人,利用对偶四元数描述其各个模块空间位姿.对偶四元描述机器人重构前后的各模块位姿信息,相对齐次坐标矩阵在数学形式上更为简洁统一,方便获取模块之间转角状态、连接面关系及连接方位关系等信息.以多个模块机器人攀越台阶障碍为例,应用对偶四元数描述方法分析该机器人越障过程中各模块空间姿态、越障高度,结合电机选型与重心位置得出该组合构型越障的最大高度.仿真实验验证了对偶四元数描述方法在分析模块化可重构机器人空间位姿中的实用性与所提出的组合越障方法的可行性.
[Abstract]:For a new modular reconfigurable robot with independent kinematic degrees of freedom, the dual quaternion is used to describe the spatial pose of each module. The dual quaternion describes the position and pose information of each module before and after the reconstruction of the robot, which is more concise and unified in mathematical form than the homogeneous coordinate matrix, and it is convenient to obtain the information of the rotation state, the connection plane relation and the connection azimuth relation between the modules. Taking multiple modular robots as an example, the dual quaternion description method is used to analyze the spatial attitude and obstacle height of each module in the process of obstacle surmounting. Combined with motor selection and center of gravity position, the maximum height of the combination configuration is obtained. The simulation results verify the practicability of dual quaternion description method in analyzing the spatial pose of modular reconfigurable robot and the feasibility of the proposed combined obstacle crossing method.
【作者单位】： 天津理工大学机械工程学院天津市先进机电系统设计与智能控制重点实验室;
【基金】：天津市自然科学基金(15JCYBJC19800) 天津市教委科研计划项目(20140403)
【分类号】：TP242
[Abstract]:For a new modular reconfigurable robot with independent kinematic degrees of freedom, the dual quaternion is used to describe the spatial pose of each module. The dual quaternion describes the position and pose information of each module before and after the reconstruction of the robot, which is more concise and unified in mathematical form than the homogeneous coordinate matrix, and it is convenient to obtain the information of the rotation state, the connection plane relation and the connection azimuth relation between the modules. Taking multiple modular robots as an example, the dual quaternion description method is used to analyze the spatial attitude and obstacle height of each module in the process of obstacle surmounting. Combined with motor selection and center of gravity position, the maximum height of the combination configuration is obtained. The simulation results verify the practicability of dual quaternion description method in analyzing the spatial pose of modular reconfigurable robot and the feasibility of the proposed combined obstacle crossing method.
【作者单位】： 天津理工大学机械工程学院天津市先进机电系统设计与智能控制重点实验室;
【基金】：天津市自然科学基金(15JCYBJC19800) 天津市教委科研计划项目(20140403)
【分类号】：TP242
【相似文献】
相关期刊论文 前10条
1 姜勇;;深海复合轮式采矿机器人越障性能研究[J];机器人;2012年02期
2 汪新,杨栋,许e，
本文编号：2253391
本文链接：https://www.wllwen.com/kejilunwen/zidonghuakongzhilunwen/2253391.html
