基于刚-柔并联连杆系统的越障机器人动力学分析  

Kinematics analysis on obstacle-crossing robot based on rigid-flexible parallel linkage mechanism system

作　　者：郭云龙[1] 刘少刚[1] 贾鹤鸣[2] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001 [2]东北林业大学机电工程学院,哈尔滨150040

出　　处：《吉林大学学报（工学版）》2013年第6期1581-1588,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(60775060)

摘　　要：针对越障机器人提出了一种刚-柔混合型并联连杆机构,建立了机构的系统模型。利用拉格朗日动力学方程以及模态方程建立了其动力学模型。对所建模型进行计算仿真,并与刚性系统进行了对比分析。分析结果表明:新模型的能量变化规律总体上与一般刚性系统的相似,因而能够适用于相同应用场合;在外力作用下,刚-柔混合系统的动能变化曲线更加平缓,具备了更强的缓解冲击的特性,因而更适用于存在较多冲击的越障情况。A kind of rigid-flexible hybrid parallel close looped linkage mechanism was developed for obstacle-crossing robot. The plane model of the rigid-flexible hybrid system was set up. The dynamic model was established using Lagrange dynamical equations and modal equations. Simulations of the proposed model were conducted and comparison was made with the rigid system. Results show that the trend of energy variation of the new system is similar to that of the rigid system; so, it can be used under the same application condition. The curve of kinetic energy of the rigid-flexible system is gentler than the rigid system with the action of external force and possesses more significant buffering characteristics. Therefore the new system is more suitable for obstacle-crossing under severe impacting situation.

关 键 词：自动控制技术 刚-柔混合系统 并联连杆机构 动力学建模 越障机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]