轮足复合式救援机器人机构建模与误差分析  

Structural modeling and error analysis of a novel wheel-legged rescue robot

作　　者：张楠[1,2] 牛宝山[1,2] 牛建业 吴少振[1,2] 张玉翔 李姗姗 李东[1,2] ZHANG Nan;NIU Baoshan;NIU Jianye;WU Shaozhen;ZHANG Yuxiang;LI Shanshan;LI Dong(College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao,Hebei 066004,China)

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004 [2]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004

出　　处：《中国科技论文》2018年第16期1871-1877,共7页China Sciencepaper

基　　金：欧盟"地平线"2020计划资助项目(734875);秦皇岛市科学技术研究与发展计划资助项目(201703A010);河北省研究生创新资助项目(CXZZSS2018036)

摘　　要：为提高轮足复合式救援机器人末端执行器的精度,通过建模将末端可控和不可控的几何误差源分离,指导机构的精度设计和运动学标定。以三自由度(3-DOF)混联机械腿为研究对象,研究少自由度串并混联机构的误差建模方法。首先,基于仿生学原理提出(2-UPS+U)&R串并混联机构,以此为基础设计轮足复合式救援机器人;其次,基于空间向量链方法建立坐标系,分析几何误差源,研究其对末端位置误差的影响;然后,利用统计模型描述该影响,由灵敏度分析结果得出在加工装配过程中必须严格控制万向节和转动关节误差;最后,进行了单腿样机足端点运动轨迹跟踪实验。实验结果证明了上述方法的可行性和正确性。To improve the accuracy of the end-effector of a wheel-legged rescue robot, the geometric error sources are separated to the controllable and uncontrollable ones by the error model. This model can also guide the precision design and kinematic calibration. For the research object of three degrees of freedom （3-DOF） hybrid mechanical leg, the paper studied the error modeling method of a less-degree-of-freedom serial-parallel mechanism. Firstly, a serial-parallel structure of （2-UPS＋U） ＆ R is proposed on bionics. Based on the structure, the wheel-legged rescue robot is designed. Secondly, the coordinate systems are established by the method of space vector chain. The geometric error source is analyzed to determine the influence of errors between the sources and the terminal position. Thirdly, a statistical model is analyzed to describe the influence. According to the results of sensitivity analysis, it is necessary to control the errors of the universal joint and the rotating joint during the process of assembling. Finally, the trajectory tracking experiment of the foot end of the single leg prototype was carried out. The results proved the feasibility and correctness of the above methods.

关 键 词：轮足复合救援机器人 (2-UPS+U)&R串并混联机构 结构建模 误差分析 

分 类 号：TH113[机械工程—机械设计及理论]