旋翼飞行机器人的结构设计与动力学建模研究  

Structural Design and Dynamical Modelling for a Rotary-wing Flight Robot

作　　者：丁力 吴洪涛[3] 李兴成 巢渊 DING Li;WU Hong-tao;LI Xing-cheng;CHAO Yuan(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou Jiangsu 213001,China;Department of Industrial and System Engineering,The Hong Kong Polytechnic University,Hong Kong 999077,China)

机构地区：[1]江苏理工学院机械工程学院,江苏常州213001 [2]香港理工大学工业及系统工程学系,香港999077 [3]南京航空航天大学机电学院,南京210016

出　　处：《组合机床与自动化加工技术》2018年第9期4-7,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：江苏省自然科学基金青年项目(BK20170315);常州市应用基础研究计划(CJ20179017);江苏省产学研前瞻项目(BY2016030-03;BY2016030-28);江苏省高等学校大学生创新训练计划项目(201711463001Z)

摘　　要：为了实现旋翼飞行机器人与外部环境交互作业,设计了一种带有机械臂的新型飞行机器人系统,并应用空间算子代数理论对计及刚柔耦合多体系统的旋翼飞行机器人系统进行了递推动力学建模。首先,考虑到旋翼飞行机器人的运动状态、质量比与工作需求,设计了一款通过六旋翼飞行器加装2自由度机械臂的新型旋翼飞行机器人系统。其次,采用空间算子代数理论实现基于刚柔耦合的旋翼飞行机器人正向与反向递推动力学建模。最后,通过编制动力学仿真程序和飞行实验对文中所提算法的有效性进行了验证。结果表明:基于空间算子代数的刚柔耦合递推动力学建模方法计算效率高,仿真结果与实验数据基本吻合,具有一定的工程实用价值。In order to realize the interaction between the rotorcraft and the environment,a new type of flight robot system with a robot arm is designed.And the spatial operator algebra theory is used to study the recursive dynamical modelling rotary-wing flight robot system with rigid and flexible coupling multibody system.Firstly,considering the motion state,mass ratio and working requirement of rotorcraft,a new rotorcraft system is designed to install 2-DOF robotic arm on a six rotorcraft.Secondly,the forward and reverse recursive dynamics modeling of rotorcraft based on rigid and flexible coupling dynamics is realized by using spatial operator algebra theory.Finally,the validity of the algorithm proposed in this paper is verified by compiling the dynamic simulation program and flight experiment.The results show that the proposed rigid-flexible coupling and recursive dynamical modeling based on spatial operator algebra has a high computational efficiency,and the simulation results could math the experimental data well.In addition,the proposed method has a certain practical value.

关 键 词：旋翼飞行机器人 机械臂 结构设计 动力学建模 空间算子代数 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]