摘要
提出了一种二自由度球面并联腿机构,并以该机构为基础,设计了一种结构简单且越障性能良好的轮-腿复合移动机器人。阐述了该机构的组成,采用解析几何法和闭环约束方程构建了RUPU-RUPR球面并联腿机构的位置逆解、工作空间、速度和加速度模型,并验证了其准确性。运用牛顿-欧拉法建立了RUPU-RUPR球面并联腿机构的动力学模型。在给定动平台的运动规律和外力后,通过动力学方程求解出RUPR驱动支链驱动力,RUPU驱动支链驱动力矩以及RUPR驱动支链约束力矩,并给出动力学模型仿真解。结果表明该机构具有良好的工作性能。
A kind of 2-DOF spherical parallel mechanism was presented. Based on the mechanism,a type of wheel-legged mobile robot was developed,which had a simple structure and a good obstacle climbing ability. According to the design theory for parallel mechanisms based on position and orientation characteristic equation and the principle for the coupling degree reducing,a novel 2-DOF spherical parallel mechanism was proposed. The inverse kinematics,workspace,velocity and acceleration model of RUPU-RUPR spherical parallel mechanism were modeled by using analytic geometry method and closed loop constraint equation. The workspace,velocity and acceleration solutions were verified by numerical methods. The dynamic equations of RUPU-RUPR spherical parallel mechanism was also established by Newton-Euler formulation. Given the platform moving rules and external forces,the driving torque of the RUPU joint and the constraints torque of the RUPR joint were calculated. A simulation solution of the dynamic model was given. The results illustrated that the spherical parallel mechanism had a simple mechanical structure and large workspace. The research provided a theoretical base for its kinematics and dynamics and workplaces of this spherical parallel mechanism.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2017年第8期376-383,共8页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金项目(51375264)
山东省科技重大专项(2015JMRH0218)
