攀爬机器人动力学建模与分析  

Dynamic Modeling and Analysis of Climbing Robot

作　　者：王学军[1] 张帆[1] WANG Xuejun;ZHANG Fan(Yunnan Provincial Key Laboratory of Advanced Equipment Intelligent Manufacturing Technology,Yunnan Advanced Equipment Intelligent Maintenance Engineering Research Center,School of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,云南省先进装备智能制造技术重点实验室,云南省先进装备智能维护工程研究中心,昆明650500

出　　处：《机械科学与技术》2023年第1期38-45,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家重点研发计划项目(2017YFC1702503);国家自然科学基金项目(51565021)。

摘　　要：针对一种攀爬机器人越障过程中动力学特性与真空模块力系平衡问题,建立了一种基于李群李代数与旋量理论在越障运动过程中攀爬机器人动力学特性分析方法。通过指数积空间的形式推导得到了空间速度雅可比矩阵进而减少因微分求导而产生的奇点,基于李群李代数与旋量理论通过拉格朗日方程建立了物理意义明确、计算复杂度低的动力学方程,建立了真空模块的力学模型,求解得到直角面越障过程中真空模块的最佳吸附力,并应用coppeliasim仿真求解出机器人关节驱动力矩,验证了李群李代数与旋量理论建模的正确性及动力学模型的有效性,通过吸附实验验证了真空模块吸附能力。Aiming at the problems of dynamic characteristics and vacuum module force balance in the process of climbing robot crossing obstacles,a climbing robot dynamics characteristic analysis method in the process of obstacle crossing motion is established based on the Lie group,Lie algebra and screw theory.The space velocity Jacobian matrix is deduced in the form of index product space thereby reducing the singularity generated due to the differential derivation,a clear physical meaning low computational complexity dynamic equation is established based on Lagrange equation,Lie group Lie algebra and screw theory.The mechanical model of the vacuum module is established,and the optimal adsorption force of the vacuum module is obtained during the obstacle crossing process.The driving torque of the robot joint is solved by coppeliasim simulation,which verified the correctness and dynamics of Lie group Lie algebra and screw theory modeling.The effectiveness of the scientific model is verified by the adsorption experiment to verify the optimal solution of the adsorption force.

关 键 词：攀爬机器人 李群李代数 旋量理论 动力学建模 

分 类 号：TH113[机械工程—机械设计及理论]