China Mechanical Engineering ›› 2024, Vol. 35 ›› Issue (12): 2193-2202.DOI: 10.3969/j.issn.1004-132X.2024.12.012

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Design and Statics-Velocity Performance Analysis of 2-(U+UPS)PU+UPU Translational Robotic Legs

LUO Zirong;XU Yuze;CHEN Shanjun;WANG Shengyin;LU Zhongyue;ZHU Yiming   

  1. College of Intelligence Science and Technology,National University of Defense Technology,
    Changsha,410073

  • Online:2024-12-25 Published:2025-01-17

2-(U+UPS)PU+UPU平动机器人腿机构设计与力速性能分析

罗自荣;徐毓泽;陈善军;王圣引;卢钟岳;朱一鸣   

  1. 国防科技大学智能科学学院,长沙,410073
  • 作者简介:罗自荣,男,1974年生,教授、博士研究生导师。研究方向为无人系统平台与动力、智能机器人与仿生机械。发表论文60余篇。 E-mail:luozirong@nudt.edu.cn。
  • 基金资助:
    国家自然科学基金(52175069)

Abstract: With the objectives of low control complexity, no concomitant rotating features at the endpoint, and fewer degrees of freedom, the 2-(U+UPS)PU+UPU 3 DOF serial-parallel translational robotic leg was proposed. The leg mechanisms mobility was analyzed and the kinematics model of the leg mechanisms was established based on the screw theory. The workspace and the posture properties of the endpoints were obtained through simulation. The velocity Jacobian matrix and the force Jacobian matrix were deduced, and the change rule of velocity and statics properties was analyzed and obtained. A prototype sample of the proposed leg mechanisms was developed, the feasibility was verified. 

Key words: robotic leg, 2-(U+UPS)PU+UPU mechanism, kinematics model, velocity property, statics property

摘要: 以自由度少、末端无伴随转动特征且控制复杂度低为设计目标,提出了一种2-(U+UPS)PU+UPU串并混联三自由度平动机器人腿机构。基于旋量理论分析了腿部机构的活动度并建立了腿部机构的运动学模型,仿真计算得到了腿部机构的末端工作空间和姿态变化特性,推导了末端速度雅可比矩阵及力雅可比矩阵,分析得到速度和力学特性变化规律。开发了所提出腿部机构的原型样机,验证了其可行性。

关键词: 机器人腿, 2-(U+UPS)PU+UPU机构, 运动学模型, 速度性能, 静力学性能

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