非惯性系下弹性欠驱动机器人动力学建模及应用  

Dynamics Model of Elastic Underacutated Robot in a Non-inertial Frame and Its Applicaitons

作　　者：耿明超[1,2] 赵铁石[1,2] 赵飞[1,2] 刘晓[1,2] 苑飞虎[1,2] 

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]燕山大学先进锻压成形技术与科学教育部重点实验室,秦皇岛066004

出　　处：《中国机械工程》2014年第15期2080-2085,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51375240;50975244)

摘　　要：以旋量为基本运算单元,建立了非惯性系下弹性欠驱动机器人的动力学模型。首先以两个旋量的李括弧运算为基础,得到了惯性系下机器人的加速度映射关系。利用多刚体系统的速度、加速度旋量在不同坐标系之间的变换,推导出非惯性系下机器人在惯性系中的加速度映射关系。然后利用刚体的牛顿-欧拉公式,建立了非惯性系下机器人的动力学模型。推导的过程中始终以运动旋量、力旋量为基本的运算单元,简化了动力学建模过程。最后,以空中加油系统这种典型的非惯性系下的弹性欠驱动的应用为例,建立了其在非惯性系下的动力学模型,并用动力学仿真软件进行了验证,验证了理论分析的正确性和可行性。A dynamics model of elastic underacutated robot in a non-inertial frame was established based on screws.Firstly,the acceleration mapping of robot which was in inertia frame was obtained re-ferring to the Lie bracket of two screws.The acceleration mapping in a non-inertia frame was deducted through the transformation of the rigid-body velocity and acceleration in different frames.Then the dynamics model of robot in a non-inertia frame was obtained using the rigid-body Newton-Euler equa-tion.The dynamics model is simple because of the use of the twist and wrench in the process of deriva-tion.Finally,the aerial refueling system,which was a typical application of an elastic underactuated ro-bot in a non-inertia frame,was taken as an example.The dynamics model of the system was presen-ted,and was verified by dynamics simulation software,which demonstrates the correctness and feasi-bility of the theoretical analysis.

关 键 词：弹性欠驱动 旋量 动力学 非惯性系 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]