并联腿六足农业机器人运动学与仿真分析  

KINEMATICS AND SIMULATION ANALYSIS OF A PARALLEL LEG HEXAPOD AGRICULTURAL ROBOT

作　　者：谢冬福 罗玉峰[1,2] 石志新 刘燕德[2] 谢金发 XIE DongFu;LUO YuFeng;SHI ZhiXin;LIU YanDe;XIE JinFa(School of Mechanical&Electrical Engineering,Nanchang University,Nanchang 330031,China;School of Mechatronics&Vehicle Engineering,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]南昌大学机电工程学院,南昌330031 [2]华东交通大学机电与车辆工程学院,南昌330013

出　　处：《机械强度》2021年第2期333-340,共8页Journal of Mechanical Strength

基　　金：国家自然科学基金项目(51365036);江西省研究生创新基金项目(YC2019-S060);南昌大学研究生创新基金项目(CX2018004、CX2018046)资助。

摘　　要：针对行走腿为串联结构及平面多连杆结构的六足机器人承载能力差、运动误差大等问题,提出了一种一平移两转动(1T2R)并联腿六足农业机器人机构。首先,对并联腿机构的运动学位置、速度、加速度进行了分析。其次,基于结构约束条件,对其工作空间进行了分析。最后,对六足农业机器人机构进行了三维建模及仿真分析。理论分析及仿真结果表明:该并联腿机构运动学位置正逆解方程均可解析求解,正解方程最多具有4组解。该机构具有部分运动输入-输出解耦性,控制方便。该并联腿机构工作空间大,由多个球冠组成。该六足机器人机构无需转弯即能实现前后、左右移动,运动平稳,机构设计合理,适合作为农业机器人行走机构使用。In view of the problems such as poor bearing capacity and large motion error of hexapod robot with series leg structure and plane multi-link structure,The parallel leg hexapod agricultural robot mechanism with one translational and two rotations(1 T2 R)was proposed.Firstly,the kinematics position,speed and acceleration of the parallel leg mechanism were analyzed.Secondly,the working space of the parallel leg mechanism was analyzed based on the structural constraints.Finally,three-dimensional modeling and simulation analysis of the hexapod agricultural robot mechanism were carried out.Theoretical analysis and simulation results show that the forward and inverse kinematics equations of the parallel leg mechanism can be solved analytically,and the forward equation has at most four groups of solutions.The partial motions of the mechanism are with inputoutput decoupling and the mechanism can be controlled easy.The parallel leg mechanism has a large working space and is composed of multiple spherical crowns.The hexapod robot can move forward and backward,left and right without turning.The mechanism design is reasonable,which is suitable for the use of agricultural robot walking mechanism.

关 键 词：六足农业机器人 并联腿 一平移两转动 运动学 工作空间 仿真分析 

分 类 号：TH122[机械工程—机械设计及理论]