基于2(6UPUR+3P)型六足步行机器人动力学建模及仿真  

Dynamic modeling and simulation for hexapod parallel robot of 2(6UPUR+3P)

作　　者：王瑞[1] 唐新星[1] 张德勇 韩方元 WANG Rui;TANG Xin-xing;ZHANG De-yong;HAN Fang-yuan(Changchun University of Technology,Changchun 130012,China;Changchun University of Technology and Science,Changchun 130022,China)

机构地区：[1]长春工业大学,吉林长春130012 [2]长春理工大学,吉林长春130022

出　　处：《重型机械》2021年第4期76-81,共6页Heavy Machinery

基　　金：吉林省教育厅“十三五”科学研究规划项目(JJKH20200657KJ)。

摘　　要：为对2(6UPUR+3P)型六足步行机器人动力学模型进行充分验证和分析,并提高建模与分析的效率,提出了基于Matlab程序和SimMechanics环境下进行动力学建模与分析的计算机辅助分析方法。首先,将6-UPUR腿部支链描述为单个刚体,运用矢量法分析其运动特性,求出位移、速度和加速度,在此基础上,采用牛顿-欧拉法对机器人腿部的动力学进行分析,获取动力学数学模型并求取驱动力,并编写了Matlab程序;其次,通过Solidworks软件搭建2(6UPUR+3P)并联机器人的物理模型,在SimMechanics环境下进行了动力学建模仿真;最后,对两种方法进行了仿真分析,腿部的动力学响应一致,说明了在Maltab和SimMechanics下的动力学模型都是正确的。该研究为2(6UPUR+3P)六自由度并联机器人控制系统设计奠定了理论研究基础,同时也为其它并联腿式机器人结构的动力学建模与分析提供参考。In order to fully verify and analyze the dynamics model of 2(6UPUR+3P)hexapod walking robot and improve the efficiency of modeling and analysis,a computer-aided analysis method based on Matlab program and SimMechanics environment was proposed.First of all,the branched chain of 6-upur legs described as a single rigid body,its movement characteristics is analyzed by using vector method,and its displacement,velocity and acceleration are obtained.On this basis,the robot legs mathematical model was established to take dynamic analysis by Newton-euler method to calculate the driving force,and write the Matlab program.Secondly,the physical model of 2(6UPUR+3P)parallel robot is built by SolidWorks software,and the dynamics modeling and simulation are carried out in SimMechanics environment.Finally,through analyzing the two methods,the dynamic response of legs are consistent,it indicate that the two dynamic models are correct under Maltab and SimMechanics.This study lays a theoretical foundation for the control system design of 2(6UPUR+3P)6-DOF parallel manipulator,and also provides a reference for the dynamic modeling and analysis of other parallel legged robots.

关 键 词：并联机构 步行机器人 牛顿-欧拉法 动力学分析 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]