摘要
以一种林用主动步态六轮轮腿式底盘结构为对象,研究底盘越障过程中轮腿各关节运动误差对越障高度的影响。运用D-H参数法建立轮腿运动学模型,正解得到轮腿越障高度与轮腿关节位姿角运动学方程,使用机器人微分运动原理分析得到底盘轮腿关节平移及旋转误差与越障高度偏差相互关系的规律,且旋转误差越大,越障高度偏差越大,算例中实测误差引起的高度变化数值可达15.96 mm。通过理论计算、仿真分析、实测试验进行了准确性验证,越障高度偏差数值切合度为96.4%以上。
According to the kind of active-gait six-wheel-legged chassis structure used in forests,the influence of the joint motion error of the wheel and leg on the obstacle height during obstacle crossing of the chassis is studied.The wheel-legged kinematic model is established by D-H method.The kinematic equations for the obstacle height and joint position angle are obtained by using the positive solution.The interrelations and regular pattern between deviations of the obstacle height and the joint translation and rotation of the chassis wheel are analyzed by employing the differential motion principle of the robot.The larger the rotation error,the greater the deviation of the obstacle height.The value of the height change caused by measurement error can reach approximately 15.96 mm in the example.The accuracy can be verified by comparison of the theoretical,simulation,and measured data.The degree of fit of the obstacle height deviation is above 96.4%.
作者
韩东涛
曹宇
佟晟
HAN Dongtao;CAO Yu;TONG Sheng(Hulunbuir University,Hulunbuir,Inner Mongolia 021008,China)
出处
《森林与环境学报》
CSCD
北大核心
2019年第5期554-560,共7页
Journal of Forest and Environment
基金
呼伦贝尔学院博士基金项目(2018BS28)
“十三五”国家重点研发计划(2018YFC0507102-02)
国家重点研发计划项目(2016YFE0203400-04)
内蒙古自治区高等学校科学研究项目(NJZY18227)
关键词
轮腿底盘
D-H参数法正解
微分运动分析
越障误差分析
wheel-legged chassis
positive solution of D-H method
differential motion analysis
obstacle deviation analysis
