摘要
为了适应水陆两栖机器人的复杂工作环境,提出一种同时拥有直线驱动和转动驱动的串并混联四足步行机器人。将串并混联机器人腿部机构简化为2UPU-UPR并联机构,并运用螺旋理论分析该并联机构的自由度特性,Y方向的位置和Z方向的姿态是影响机构运动的两个独立变量。推导出了2UPU-UPR并联机构的运动学反解及其速度雅克比矩阵,并根据速度雅克比矩阵分析了该机构的三类运动学奇异位形,2UPU-UPR并联机构没有运动学反解奇异,但是存在四种运动学正解奇异和两种混合奇异。通过对该机构组成的四足机器人进行直行步态规划,验证了机器人的运动稳定性;对一简单实例进行了单腿机构运动学仿真,分析其输入输出变化关系。研究结果可为机构的进一步动力学分析与应用提供理论基础。
To adapt to the complex working environment of an amphibious manipulator, a serial-parallel hybrid quadruped walking manipulator comprising a linear and a rotary drive is proposed herein. The leg mechanism of the serial-parallel hybrid manipulator was simplified as a 2UPU-UPR parallel mechanism, and the degree of freedom of the parallel mechanism was analyzed using screw theory. The results showed that the position of the Y direction and the orientation of the Z direction were two independent variables that influenced the movement of the mechanism. Theoretical derivation was used to deduce kinematics inverse solution and the velocity Jaeobian matrix of the 2UPU- UPR parallel mechanism. Three types of kinematic singularities of the 2UPU-UPR parallel mechanism were identi- fied based on the analysis of the Jacobian matrix. The results showed that the 2UPU-UPR parallel mechanism did not comprise kinematic inverse singularities ; however, four types of kinematic forward singularities and two types of combined singularities were found in the mechanism. The motion stability of the four-legged robot, which was driv- en by the mechanism, was verified via straight gait planning. Finally, the kinematics simulation of the single leg was performed as a simple demonstration and its input-output relation was analyzed. The results obtained in this study can provide the theoretical basis for further dynamics analysis and possible applications of the mechanism.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2018年第1期135-142,共8页
Journal of Harbin Engineering University
基金
国家自然科学基金项目(51375264)
山东省科技重大专项(2015JMRH0218)
山东省重大科技创新工程(2017CXGC0923)
山东省重点研发计划(2017GGX30112)
关键词
串并混联机器人
并联机构
螺旋理论
运动学
奇异性
步态规划
自由度计算
serial-parallel hybrid manipulator
parallel mechanism
the screw theory
kinematics
singularity
gait planning
calculation of degree of freedom
