Kinematics and Multi-objective Optimization of 4-URPU Multiple Locomotion Modes Mobile Parallel Mechanism
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摘要: 为适应多重地形特征环境,本文提出一种集四足步行、蠕动和“全姿态”滚动等运动模式为一体的4-URPU多模式移动并联机构。利用螺旋理论分析了机构在各模式下的运动可行性,求解各模式下机构的位置解及速度雅可比矩阵,并建立多目标优化模型,得到一组相对最优解的集合。结果表明,行走过程中的速度性能指标的最大值低于机构在滚动过程中的速度性能指标,不同的工作环境有不同的最优解决方案。最后对机构进行样机试验,验证了该机构的理论正确性以及运动可行性。所提出的机构可应用于核电事故、野外、自然灾害等具有多重地形特征的地理环境中,有一定的应用前景。Abstract: To adapt to the multi-terrain environment, a 4-URPU multiple locomotion modes mobile parallel mechanism is proposed, which integrates three motion modes of quadruped walking, creeping and rolling. The kinematic feasibility of the mechanism in each mode is analyzed by the screw theory. The position solution and velocity Jacobian matrix of the mechanism in each mode are solved, and a multi-objective optimization model is established to obtain a set of relative optimal solutions. The results show that the maximum speed performance index in walking process is lower than that in rolling process, and there are different optimal solutions for different working environments. Finally, a prototype test is carried out to verify the theoretical correctness and kinematic feasibility of the mechanism. The proposed mechanism can be applied to geographic environments with multiple topographic features such as nuclear power accidents, field and natural disasters, and has a certain application prospect.
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表 1 输入量
$ \alpha $ 、$ \beta$ 、$ \gamma $ 与机构稳定性关系输入量$\alpha $ 输入量$\beta $ 输入量$\gamma $ 稳定性 ${{\text{π}} / 3}$ $\left( { - {{\text{π}} / 5},{{\text{π}} / 2}} \right)$ $\left( { - {{\text{π}} / 5},{{\text{π}} / 2}} \right)$ 是 ${{\text{π}} / 3}$ $\left( { - {{\text{π}} / 2},{{ - {\text{π}} } / 5}} \right)$ $\left( { - {{\text{π}} / 2},{{ - {\text{π}} } / 5}} \right)$ 否 -
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