蛇形机器人多刚体系统动力学建模与分析  

Dynamic Modeling and Analysis of Multibody Systems for Snake-like Robot

作　　者：杜雪林 周灿 刘颖 易文慧 邹家华 郭金鹏 DU Xuelin;ZHOU Can;LIU Ying;YI Wenhui;ZOU Jiahua;GUO Jinpeng(Hunan Institute of Technology,Hengyang Hunan 421002,China)

机构地区：[1]湖南工学院智能制造与机械工程学院,湖南衡阳421002

出　　处：《机械设计与研究》2024年第3期51-57,共7页Machine Design And Research

基　　金：湖南省自然科学基金项目(2023JJ50099);湖南省大学生创新训练项目(S202311528153);湖南省科技厅科技创新人才项目(2021RC1008)。

摘　　要：针对蛇形机器人的多刚体系统动力学分析问题,建立了其三维仿真模型,并讨论了阻尼系数、摩擦系数比和关节角度幅值对机器人动力学特性的影响。采用蛇形曲线实现蛇形机器人蜿蜒、翻滚和蠕动等基本步态,完成了对应步态的动力学分析。特别地,采用step函数实现了翻滚运动关节角度的输入。基于动力学分析的结果,确定合理的控制思路,开展了蛇形机器人样机步态实验。结果表明,阻尼系数对不同步态的影响机理不同,摩擦系数比越大蜿蜒运动的效率越高及关节角度幅值增大有助于蜿蜒运动的效率但同时加大了运动干涉的风险,因此在进行机器人样机运动控制时要综合考虑。Aiming at the dynamic analysis of multibody system for snake-like robot,a three-dimensional simulation model is established,and the influence of the damping coefficient,the friction coefficient ratio and the joint angle amplitude on the dynamic characteristics of the robot are discussed.The serpentine curve is used to realize the basic gait of the snake-like robot,such as serpentine locomotion,rolling locomotion and inchworm locomotion,and the dynamic mechanics analysis of the corresponding gait is completed.In particular,the step function is used to realize the input of rolling joint angle.Based on the results of dynamic analysis,a reasonable control idea is determined and the gait experiment of snake-like robot prototype is carried out.The results show that the influence mechanism of the damping coefficient on different gait is different;the larger the friction coefficient ratio,the higher the serpentine locomotion efficiency;and the increase of joint angle amplitude contributes to the efficiency of serpentine motion,but at the same time increases the risk of motion interference.So it should be considered comprehensively when carrying out robot prototype motion control.

关 键 词：蛇形机器人 动力学分析 步态 摩擦系数比 运动干涉 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]