攀爬机器人动力学建模与分析

王学军; 张帆

doi:10.13433/j.cnki.1003-8728.20200601

攀爬机器人动力学建模与分析

doi: 10.13433/j.cnki.1003-8728.20200601

王学军,
张帆

昆明理工大学机电工程学院, 云南省先进装备智能制造技术重点实验室, 云南省先进装备智能维护工程研究中心, 昆明 650500

基金项目:

国家重点研发计划项目 2017YFC1702503

国家自然科学基金项目 51565021

详细信息

作者简介:
王学军, 副教授, 硕士生导师, 研究方向为机器人动力学, km_wxj@kust.edu.cn

中图分类号: TH113
计量
- 文章访问数: 317
- HTML全文浏览量: 186
- PDF下载量: 81
- 被引次数: 0
出版历程
- 收稿日期: 2021-03-31
- 刊出日期: 2023-01-25

Dynamic Modeling and Analysis of Climbing Robot

Yunnan Provincial Key Laboratory of Advanced Equipment Intelligent Manufacturing Technology, Yunnan Advanced Equipment Intelligent Maintenance Engineering Research Center, School of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China

摘要

摘要: 在越障运动过程中攀爬机器人动力学特性分析方法。通过指数积空间的形式推导得到了空间速度雅可比矩阵进而减少因微分求导而产生的奇点，基于李群李代数与旋量理论通过拉格朗日方程建立了物理意义明确、计算复杂度低的动力学方程，建立了真空模块的力学模型，求解得到直角面越障过程中真空模块的最佳吸附力，并应用coppeliasim仿真求解出机器人关节驱动力矩，验证了李群李代数与旋量理论建模的正确性及动力学模型的有效性，通过吸附实验验证了真空模块吸附能力。
- 攀爬机器人 /
- 李群李代数 /
- 旋量理论 /
- 动力学建模
Abstract: Aiming at the problems of dynamic characteristics and vacuum module force balance in the process of climbing robot crossing obstacles, a climbing robot dynamics characteristic analysis method in the process of obstacle crossing motion is established based on the Lie group, Lie algebra and screw theory. The space velocity Jacobian matrix is deduced in the form of index product space thereby reducing the singularity generated due to the differential derivation, a clear physical meaning low computational complexity dynamic equation is established based on Lagrange equation, Lie group Lie algebra and screw theory. The mechanical model of the vacuum module is established, and the optimal adsorption force of the vacuum module is obtained during the obstacle crossing process. The driving torque of the robot joint is solved by coppeliasim simulation, which verified the correctness and dynamics of Lie group Lie algebra and screw theory modeling. The effectiveness of the scientific model is verified by the adsorption experiment to verify the optimal solution of the adsorption force.
- climbing robot /
- Lie group and Lie algebra /
- screw theory /
- dynamic modeling

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图 1 攀爬机器人设计

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图 2 攀爬机器人运动步态

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图 3 攀爬机器人机构简图

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图 4 真空模块受力示意图

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图 5 攀爬机器人仿真模型

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图 6 攀爬机器人仿真速度曲线

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图 7 攀爬机器人仿真力矩曲线

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图 8 仿真与理论结果对比

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图 9 理论最佳吸附力

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图 10 吸附实验

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表 1 攀爬机器人结构参数

结构参数	数值
真空模块质量m₁/kg	5.01
转臂1质量m₂/kg	0.34
转臂2质量m₃/kg	1.98
关节O₂至腔底距离L₁/mm	230.24
转臂1长度L₀/mm	90
转臂2长度L₂/mm	180
关节O₄至腔底距离L₄/mm	230.24
真空腔惯性矩阵I₁/(kg·cm^-2)
转臂2惯性矩阵I₂/(kg·cm^-2)

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表 2 吸附实验数据

材料	摩擦因数μ	关节O₂力矩τ₂/Nm	吸附力F_k/N
聚四氟乙烯	0.71	20.8, 19.7	141.5, 152.5
发泡硅胶	1.11	19.3, 21.1	149.9, 164.3
人造皮革	1.30	19.9, 21.6	152.8, 168.3

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