基于旋量理论的蛇形机器人运动学建模  

Kinematics Modeling of Snake-like Robot Based on Screw Theory

作　　者：魏武[1] 李艳杰 廖志鹏 张晶[1] WEI Wu;LI Yanjie;LIAO Zhipeng;ZHANG Jing(School of Automation Science and Engineering,South China University of Technology,Guangzhou510640,Guangdong,China)

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2019年第2期1-8,共8页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61573148);广东省科技计划项目(2016A040403012;2015B010919007;2017B090901043);广州市科技计划项目(201604016014;201604046015);广州市高校创新创业教育平台项目(2017271201)~~

摘　　要：针对传统的D-H参数法需在每个关节上建立局部坐标系、建模过程复杂、几何意义不明确且求逆解易产生增根等不足,文中对具有关节多、结构冗余度高的蛇形机器人运动学建模展开研究,提出了基于旋量理论的蛇形机器人运动学建模方法,证明了D-H参数法与基于旋量理论的建模方法的等价性,并基于旋量理论的指数积公式求解了蛇形机器人的速度雅可比矩阵,建立了蛇形机器人速度模型.使用Adams软件对蛇形机器人进行运动仿真,测量所得的末端执行器线速度和角速度曲线与Matlab计算所得的末端执行器线速度和角速度曲线一致,结果表明了旋量理论建模方法的正确、简捷和有效性.In view of the traditional D-H parameter method has many disadvantages,such as the local coordinate system needs to be established on every joint,the modeling process is complex,the geometric meaning is not clear and the inverse solution leads to the rooting problem,the kinematics modeling of snake-like robot which has many joints and high structural redundancy was studied,and the method of the snake-like robot's position modeling based on screw theory was proposed.Meanwhile,the equivalence between the D-H parameter method and the screw theory modeling method were proved,and the velocity Jacobi matrices of snake-like robot were solved by using the exponential product formula based on screw theory,establishing the speed model of the snake-like robot.The motion simulation of the snake-like robot was carried out by using Adams software.The measured linear velocity and angular velocity curves of the end effecter are consistent with the linear velocity and angular velocity curves of the end effecter calculated by Matlab.The results show that screw theory modeling method is correct,simple and effective.

关 键 词：蛇形机器人 旋量理论 运动学 雅可比矩阵 速度模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]