基于仿生水母机器人的机械臂设计与仿真分析  

Design and Simulation Analysis of Robotic Arm Based on Bionic Jellyfish Robot

作　　者：闫兴坤 张龙[1] Yan Xingkun;Zhang Long(School of Mechanical Engineering,Nanjing University of Science & Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院

出　　处：《兵工自动化》2019年第6期62-65,69,共5页Ordnance Industry Automation

摘　　要：为满足海洋探索及水下侦察的任务需求,设计一种多自由度仿生水母机器人。在Matlab分析软件中利用Robotic Toolbox建立水母机械臂模型,进行运动仿真,分析其运动学和动力学,得出角速度、角加速度等曲线。依据反推出的力矩曲线,对导入到Adams中的3维模型进行驱动仿真,采用Jtraj函数对四自由度仿生水母机器人的机械臂进行5次多项式轨迹规划,并构建一个简单的BP神经网络控制算法。仿真结果表明:各运动曲线连续、平缓无突变,可满足实际需求。In order to meet the needs of marine exploration and underwater reconnaissance,a bionic jellyfish robot with multiple degrees of freedom is designed.The Robotic Toolbox in Matlab analysis software is used to establish the model of the jellyfish manipulator,performing the motion simulation.After analyzing the kinematics and dynamics,the curves of angular velocity and angular acceleration are obtained.Based on the torque curve of reverse launch,the 3-D model imported into Adams is driven and simulated,and a simple BP neural network control algorithm is constructed by using the Jtraj function to carry out 5-time polynomial trajectory planning for the robotic arm of the bionic jellyfish robot with four degrees of freedom.The simulation results show that the motion curves are continuous and smooth without mutation,and can meet the actual demand.

关 键 词：水母仿生 机械臂 运动学求解 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]