基于串并联机构的自重构移动机器人  

Reconfigurable Mobile Robot Based on Serial and Parallel Mechanism

作　　者：王巍[1] 张厚祥 邓志诚[1] 宗光华[1] 傅华蕾[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083 [2]汉堡大学信息学院 汉堡 22527 德国

出　　处：《机械工程学报》2008年第5期92-101,共10页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划，2006AA04Z241)资助项目。

摘　　要：为验证具有大输出力矩和工作空间的可重构机构对提高移动机器人运动性能的有效性,设计一种基于串并联等效球铰机构的可对接自重构多模块移动机器人。利用丝杠摇块机构构成并联机构支链,两个支链并联然后与一个旋转机构串联构成主动等效球铰机构。所提出的等效球铰机构结合并联机构和串联机构的优点,能以紧凑的结构提供较大的输出力矩和工作空间。对该串并联机构进行运动学分析,获得运动学逆解,作为机器人控制算法依据。进行机构静力学分析,获得确定驱动力和负载条件下机构的可控工作空间,为结构设计和工作路径选择提供理论指导。提出能实现平面偏差补偿和大负载能力的对接机构,实现机器人模块间的对接和脱离。设计JL-1型机器人样机,并利用该样机进行试验。试验验证了所提出串并联主动等效球铰机构和对接机构的有效性,同时证明自重构功能赋予野外机器人主动扩展地形适应性的能力,从而有效地增强机器人对环境和任务的适应性。To demonstrate the benefit of a reconfignration mechanism with powerful driving force and large workspace to enhance the locomotion ability of mobile robot, a reconfignrable mobile robot based on serial and parallel mechanism is presented, and it is composed of three modules which can dock and disconnect with each other by docking mechanisms. Firstly, two screw and sliding mechanisms with high torque amplifying ratio are proposed to be the branches of a parallel mechanism. Then an active spherical joint mechanism is realized by serially connecting the parallel mechanism with a rotating mechanism whose axes are orthonormal with each other and intersect at one point. The serial and parallel mechanism is attractive in the characteristics of high output torque, large work space and small structure. Secondly, the kinemics converse formula of the mechanism is deduced to be the basis of motion con- trol, and the static formula is also concluded to determine the drivable workspace under certain load. Furthermore, a docking mecha- nism being capable of compensating the position and direction error in plane is designed to realize the docking and disconnecting action between two modules. To testify the formulas and the availability of the mechanisms, a prototype named JL- 1 is designed. Finally a series of successful on-site tests confirm the principles described above and the validity of the active spherical joint mecha- nism and the docking mechanism. The results show that the powerful reconfignration abilities can obviously enhance the adaptability of mobile robot to rugged terrain.

关 键 词：球铰 可重构机器人 并联机构 串联机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]