轮腿混合机器人机械腿动力学建模与驱动预估
发布时间：2018-10-18 19:38
【摘要】：提出了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四足军用机器人,它采用一种基于3-UPS机构的6自由度并联机械腿,对并联机械腿进行了动力学建模与驱动参数峰值预估。通过矢量回路法推导出机械腿的机构传递映射模型,并建立了机构的雅可比矩阵;采用非保守系统的拉格朗日方程建立了机械腿的动力学模型,得到了驱动参数与机械腿的运动函数之间的显式方程。通过机械腿的动力学模型,对6个伺服电机的驱动转速、力矩进行了峰值预估分析,计算出各伺服电机中的最大理论转速为19.7 r/s,最大理论力矩为71 m N·m.通过一个具体的机械腿设计方案和结构参数算例,分析了机器人按照"1-2-3-4"循环步态迈步行走过程中,其6个伺服电机的瞬时转速、瞬时力矩随时间的变化规律曲线,并计算出此算例的伺服电机最大转速为15.3 r/s,最大力矩为48.1 m N·m,均小于预估模型中的预估理论极限峰值,通过计算得出算例的伺服电机选型预估功率为77 W,算例结果证明了所建立的驱动参数峰值预估模型的合理性。
[Abstract]:A wheel-leg hybrid four-legged military robot, which can walk at the same time, has power wheeled maneuvering, and skidded with no power roller ice, is proposed. It adopts a 6-DOF parallel mechanical leg based on 3-UPS mechanism. The dynamic modeling and the peak value prediction of the driving parameters of the parallel mechanical leg are carried out. The mechanism transfer mapping model of mechanical leg is derived by vector loop method, and the Jacobian matrix of mechanism is established, and the dynamic model of mechanical leg is established by using Lagrange equation of non-conservative system. The explicit equation between the driving parameters and the motion function of the mechanical leg is obtained. Based on the dynamic model of mechanical leg, the peak value of driving speed and torque of 6 servomotors are predicted and analyzed. The maximum theoretical rotational speed of each servo motor is 19. 7 r / s and the maximum theoretical torque is 71 m N m.. Based on a concrete design scheme of mechanical leg and an example of structural parameters, the curve of instantaneous speed and moment with time of 6 servomotors in the course of walking according to "1-2-3-4" cyclic gait is analyzed. The maximum speed and torque of the servo motor are 15. 3 r / s, 48. 1 m N m, and 48. 1 m N m, respectively. The estimated power of servo motor selection is 77 W by calculation, and the result of example proves the rationality of the established peak value prediction model of driving parameters.
【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
本文编号：2280163
[Abstract]:A wheel-leg hybrid four-legged military robot, which can walk at the same time, has power wheeled maneuvering, and skidded with no power roller ice, is proposed. It adopts a 6-DOF parallel mechanical leg based on 3-UPS mechanism. The dynamic modeling and the peak value prediction of the driving parameters of the parallel mechanical leg are carried out. The mechanism transfer mapping model of mechanical leg is derived by vector loop method, and the Jacobian matrix of mechanism is established, and the dynamic model of mechanical leg is established by using Lagrange equation of non-conservative system. The explicit equation between the driving parameters and the motion function of the mechanical leg is obtained. Based on the dynamic model of mechanical leg, the peak value of driving speed and torque of 6 servomotors are predicted and analyzed. The maximum theoretical rotational speed of each servo motor is 19. 7 r / s and the maximum theoretical torque is 71 m N m.. Based on a concrete design scheme of mechanical leg and an example of structural parameters, the curve of instantaneous speed and moment with time of 6 servomotors in the course of walking according to "1-2-3-4" cyclic gait is analyzed. The maximum speed and torque of the servo motor are 15. 3 r / s, 48. 1 m N m, and 48. 1 m N m, respectively. The estimated power of servo motor selection is 77 W by calculation, and the result of example proves the rationality of the established peak value prediction model of driving parameters.
【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
【相似文献】
相关期刊论文 前3条
1 王显伟;FCC分馏塔产品质量预估模型开发及应用[J];石油化工自动化;1999年05期
2 张岩;邵富群;吴鲲魁;王军生;;基于无模型自适应控制的锌层厚度预估模型[J];系统仿真学报;2013年05期
3 冯斌,须文波;基于回归支撑矢量机的生化变量预估模型[J];计算机工程与应用;2004年36期
，本文编号：2280163
本文链接：https://www.wllwen.com/kejilunwen/zidonghuakongzhilunwen/2280163.html
