自重构机器人变形过程运动学分析及越障仿真

中国机械工程 ›› 2014, Vol. 25 ›› Issue (19): 2608-2613,2619.

自重构机器人变形过程运动学分析及越障仿真

葛为民;张华瑾;王肖锋;雷营林

天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津,300384

出版日期:2014-10-10 发布日期:2014-10-14
基金资助:
国家级大学生创新创业训练计划资助项目（201210060028）;天津市自然科学基金资助项目(13JCYBJC17700)

Kinematics Analysis of Self-reconfigurable Robot during Deformation Process and Simulation of Obstacle Climbing

Ge Weimin;Zhang Huajin;Wang Xiaofeng;Lei Yinglin

Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin University of Technology,Tianjin,300384

Online:2014-10-10 Published:2014-10-14
Supported by:
Natural Science Foundation of Tianjin（No. 201210060028）

摘要/Abstract

摘要：

自重构机器人根据任务环境的不同可实现自主变换构型。研究了直线蛇形变换为环形的重构过程,定义了单元模块的连接面与坐标变换矩阵,基于D-H方法推导并归纳了多模块由直线蛇形变换为环形的普适公式。利用多体动力学软件RecurDyn与MATLAB对模块构型变换中末端连接面的运动轨迹、速度以及加速度进行了仿真,验证了普适公式的有效性和正确性,准确地判断了末端连接面运动轨迹的变化与重构工作空间,估计了系统的稳定性,提高了对控制算法的认知程度。最后分析了环形构型的两种滚动步态,利用仿真验证了环形构型的越障能力。

关键词: 自重构机器人, 变形过程, 运动学, 普适公式, 越障

Abstract:

Self-reconfigurable robot could change its configuration depending on the task environments. This paper discussed the transforming process of snake-like configuration changing into circular configuration, defined the junction surface of modular units and coordinate transform matrix, and got the universal formula based on the D-H method. Then The motion trail,velocity and acceleration during the transformation were simulated by RecurDyn and MATLAB. With the result, the correctness and the validity of the universal formula were proved; trajectory modification and reconfiguration space were judged; the stability of the robotic system was estimated; the awareness level of control algorithm was improved. Finally, two kinds of ring rolling gait were analyzed, and through the simulation, the ability of obstacle climbing was proved.

Key words: self-reconfigurable robot;deformation process, kinematics;universal formula;obstacle climbing

中图分类号:

TH24

葛为民, 张华瑾, 王肖锋, 雷营林. 自重构机器人变形过程运动学分析及越障仿真[J]. 中国机械工程, 2014, 25(19): 2608-2613,2619.

Ge Weimin, Zhang Huajin, Wang Xiaofeng, Lei Yinglin. Kinematics Analysis of Self-reconfigurable Robot during Deformation Process and Simulation of Obstacle Climbing[J]. China Mechanical Engineering, 2014, 25(19): 2608-2613,2619.

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