针对农用型下肢外骨骼运动学分析的旋量解法  

Rotation method for the kinematic analysis of the exoskeleton of the lower extremities of the agricultural type

作　　者：任星宇 樊军[1] 董平[1] Ren Xingyu;Fan Jun;Dong Ping(Mechanical Engineering Academy, Xinjiang University, Urumqi , 830047, Chin)

机构地区：[1]新疆大学机械工程学院,乌鲁木齐市830047

出　　处：《中国农机化学报》2018年第3期46-50,共5页Journal of Chinese Agricultural Mechanization

基　　金：国家自然科学基金项目(11462021)

摘　　要：农用型下肢外骨骼机器人是一种伴随农作者运动并提供有效负载和支撑的仿人下肢机器人,在田间劳作时,农用型下肢外骨骼在人体进行特定采摘动作的支撑和稳定过程中拥有复杂的动态系统,因此对农用型下肢外骨骼的正逆运动学分析变得更加重要。而对于农用型下肢外骨骼机器人运动学的分析,现有的运动学模型解法复杂且无法避免奇异位形的出现,在分析现有的运动学解法后,提出了一种基于旋量理论的运动学算法。结论表明,基于旋量理论的正逆运动学分析能从整体上对农用型下肢外骨骼进行描述,不仅简化了算法,提高计算效率的同时还避免了机构的奇异性。最后将所建立方程导入Matlab软件进行仿真分析,通过对比验证基于旋量理论建立的正逆运动学的可行性和准确性。Farm type lower extremity exoskeleton robot is a kind of agriculture with author and provide effective support and load motion of humanoid robot limb,working in the field,a complex dynamic system with support and stability of agricultural type lower extremity exoskeleton for specific action in picking a human body,so the farm type lower extremity exoskeleton kinematics the analysis becomes more important.For the analysis of kinematics of the agricultural exoskeleton robot,the existing kinematics model is complex and can not avoid the appearance of singular configuration.After analyzing the existing kinematics solution,a kinematic algorithm based on screw theory is proposed.The conclusion shows that the forward and inverse kinematics analysis based on the spinor theory can describe the exoskeleton of the agricultural lower extremity as a whole.It not only simplifies the algorithm,improves the computation efficiency,but also avoids the strangeness of the mechanism.Finally,the established equations are imported into the Matlab software for simulation analysis,and the feasibility and accuracy of the forward and inverse kinematics based on the theory of spinor are verified by comparison.

关 键 词：农用型 下肢外骨骼机器人 旋量理论 运动学 奇异位形 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]