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攀爬机器人动力学建模与分析

王学军 张帆

王学军, 张帆. 攀爬机器人动力学建模与分析[J]. 机械科学与技术, 2023, 42(1): 38-45. doi: 10.13433/j.cnki.1003-8728.20200601
引用本文: 王学军, 张帆. 攀爬机器人动力学建模与分析[J]. 机械科学与技术, 2023, 42(1): 38-45. doi: 10.13433/j.cnki.1003-8728.20200601
WANG Xuejun, ZHANG Fan. Dynamic Modeling and Analysis of Climbing Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 38-45. doi: 10.13433/j.cnki.1003-8728.20200601
Citation: WANG Xuejun, ZHANG Fan. Dynamic Modeling and Analysis of Climbing Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2023, 42(1): 38-45. 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
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

Dynamic Modeling and Analysis of Climbing Robot

  • 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。
  • 图  1  攀爬机器人设计

    图  2  攀爬机器人运动步态

    图  3  攀爬机器人机构简图

    图  4  真空模块受力示意图

    图  5  攀爬机器人仿真模型

    图  6  攀爬机器人仿真速度曲线

    图  7  攀爬机器人仿真力矩曲线

    图  8  仿真与理论结果对比

    图  9  理论最佳吸附力

    图  10  吸附实验

    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)
    下载: 导出CSV

    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Fk/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
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-03-31
  • 刊出日期:  2023-01-25

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