带臂弹跳机器人抓杠摆荡动力学建模与仿真  

Dynamic modeling and simulation for grasping and swing of jumping perching robot

作　　者：宋伟 许勇 SONG Wei;XU Yong(Tianping College,Suzhou University of Science and Technology,Suzhou 215100,Jiangsu,China;School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai201620,China)

机构地区：[1]苏州科技大学天平学院,江苏苏州215100 [2]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《农业装备与车辆工程》2024年第11期116-122,共7页Agricultural Equipment & Vehicle Engineering

基　　金：国家自然科学基金“磁阻辅助驱动六自由度高速柔顺纳米精度运动系统与控制研究”(52475063)。

摘　　要：提出一种在非结构化环境中具备抓取和栖息能力的带臂弹跳机器人。针对机器人抓杠过程进行动力学建模,对主、被动关节运动进行轨迹规划,以实现快速摆荡控制。通过ADAMS软件进行建模与仿真验证,确保动力学控制方案的有效性,为带臂弹跳机器人的设计和控制提供一定的理论和实践参考。An arm-mounted jumping robot with grasping and perching abilities in unstructured environment was proposed.Dynamic modeling of robot grasping process was carried out,and then trajectory planning of active and passive joint was presented to realize the rapid swing control.By modeling and simulation of ADAMS software,effectiveness of dynamic control scheme was ensured,which provides a solid theoretical and practical basis for design and control of jumping robots with arm.

关 键 词：弹跳机器人 轨迹规划 动力学建模 摆荡控制 ADAMS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] TH122[自动化与计算机技术—控制科学与工程]