拱泥机器人运动特性分析与仿真  

Motion Characteristics Analysis and Simulation of Move-in-mud Robot

作　　者：任福君[1] 颜兵兵[1] 

机构地区：[1]哈尔滨理工大学机械动力工程学院

出　　处：《机械工程学报》2008年第1期62-66,共5页Journal of Mechanical Engineering

基　　金：黑龙江省自然科学基金重点资助项目(ZJG03-06)。

摘　　要：针对拱泥机器人在泥土环境中前进时所受转向阻力矩大的特点,结合并联机构承载能力强、运动反解容易等优点,提出采用Tricept型并联机构作为拱泥机器人转向机构的方案,以提高拱泥机器人的驱动能力。给出拱泥机器人机构的整体方案,建立拱泥机器人各杆件坐标系的变换矩阵。通过对拱泥机器人运动特性的分析,建立拱泥机器人运动轨迹的数学模型,利用计算机仿真技术模拟出拱泥机器人运动的整个过程,并给出拱泥机器人在有无障碍物情况下转向关节的角度变化。仿真结果为拱泥机器人在机构设计与路径规划研究等方面提供了依据,为拱泥机器人的运动学、动力学的分析与仿真以及虚拟样机的建立打下了一定的理论基础,同时也为其他仿生机器人的运动特性分析提供了一种有效方法。The move-in-mud robot withstands big rotating resistance when advancing in soil. A design is presented, combining with the advantages of parallel mechanism such as strong bearing capacity, inversing kinematics problems easily. It adopts the Tricept type parallel mechanism as the turning mechanism of move-in-mud robot, which improves the drive ability of move-in-mud robot. The whole mechanism scheme is presented. The transformation matrixes of staff coordinates of move-in-mud robot are presented. By the analysis on movement characteristics of move-in-mud robot, the mathematical model of movement track is built. The whole moving process of move-in-mud robot is simulated by computer simulation technology, and the angle change of turning joints is given with/without obstacles. The simulation results lay the foundation for mechanism design and path planning and so on, lay the mathematical foundation of research on the kinematical and dynamical analysis and simulation, establish the virtual prototyping of move-in-mud robot, meanwhile provide an effective approach to resolve the problem of motion characteristics analysis of other kinds of bionic robots.

关 键 词：变换矩阵 TRICEPT并联机构 运动分析 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]