一种消防六足机器人及其腿部机构运动学分析  

A Firefighting Six-legged Robot and Its Kinematics Analysis of Leg Mechanisms

作　　者：金振林[1,2] 张金柱[1] 高峰[2] 

机构地区：[1]燕山大学,秦皇岛066004 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《中国机械工程》2016年第7期865-871,共7页China Mechanical Engineering

基　　金：国家重点基础研究发展计划(973计划)资助项目(2013CB035501);机械系统与振动国家重点实验室重点实验室开放课题资助项目(MSV201506)

摘　　要：提出了一种六足并联消防机器人,并进行了整机概念设计;经过对2UPS+UP机构进行变异,提出了一种新型三自由度易防护腿部机构;对该腿部机构进行了运动学分析,推导了位置反解方程和速度映射关系,分析了工作空间,绘制了工作空间三维图,揭示了其驱动机构几何参数对该机器人越障能力和行走速度的影响规律,设计了一组合理的几何参数。所提出的六足机器人防护性好,在消防、核电泄漏及地震等救灾场合有很好的应用前景。Firstly,a six-foot parallel firefighting robot was proposed and the whole conceptual design was accomplished.Secondly,based on the evolution of 2UPS＋UP parallel mechanism,a novel three degrees of freedom leg mechanism with self-protection function was proposed.Then,leg mechanism kinematics was analyzed and the equation for inverse position and velocity mapping relationship were presented.The workspace of manipulator was analyzed and its three-dimensional graphic was drawn.At last,the influences of drive mechanism geometrical parameters on obstacle ability and walking speed were revealed,and a reasonable set of graphical parameters was designed.The hexapod robot proposed herein has good protective properties and broad application prospects especially in fire,nuclear plant leak,earthquake and other disaster relief.

关 键 词：三自由度 六足机器人 运动学 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]