UPR-UPU-UR矢量推进机构的推进性能研究

杜晓强; 于福杰; 陈原

doi:10.37188/OPE.20202810.2276

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UPR-UPU-UR矢量推进机构的推进性能研究

微纳技术与精密机械 | 更新时间：2020-11-16

- UPR-UPU-UR矢量推进机构的推进性能研究
- Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration
- 光学精密工程 2020年28卷第10期页码：2276-2289
- 作者机构：
  
  山东大学(威海)机电与信息工程学院, 山东威海 264209
- 作者简介：
  
  [ "杜晓强(1992-), 男, 山西大同人, 现为山东大学(威海)在校研究生, 2017年于太原理工大学获得学士学位, 主要从事水下机器人机构学的研究。E-mail:dxqswy@163.com" ]
  陈原(1976-), 男, 湖北黄冈人, 博士, 教授, 2012年于哈尔滨工业大学获得博士学位, 主要从事机器人机构学与控制研究。E-mail:cyzghysy@sdu.edu.cn CHEN Yuan, E-mail:cyzghysy@sdu.edu.cn
- 基金信息：
  
  国家自然科学基金资助项目(51375264);山东省重大创新工程资助项目(2017CXGC0923);山东省重点研发计划资助项目(2018GGX103025);山东省自然科学基金资助项目(ZR2019MEE019);中央高校基本科研业务费专项资金资助项目(2019ZRJC006)
- DOI：10.37188/OPE.20202810.2276
  中图分类号： TP242;TH112
- 收稿日期：2020-06-15，
  
  修回日期：2020-07-27，
  
  录用日期：2020-7-27，
  
  纸质出版日期：2020-10-25
- 稿件说明：
移动端阅览
杜晓强, 于福杰, 陈原. UPR-UPU-UR矢量推进机构的推进性能研究[J]. 光学精密工程, 2020,28(10):2276-2289.

Xiao-qiang DU, Fu-jie YU, Yuan CHEN. Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration[J]. Optics and precision engineering, 2020, 28(10): 2276-2289.
杜晓强, 于福杰, 陈原. UPR-UPU-UR矢量推进机构的推进性能研究[J]. 光学精密工程, 2020,28(10):2276-2289. DOI： 10.37188/OPE.20202810.2276.

Xiao-qiang DU, Fu-jie YU, Yuan CHEN. Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration[J]. Optics and precision engineering, 2020, 28(10): 2276-2289. DOI： 10.37188/OPE.20202810.2276.

摘要

为了实现水下机器人的推进装置具备空间姿态调整和大转矩的动力传递功能，本文提出了UPR-UPU-UR矢量推进机构。首先，运用螺旋理论计算了矢量推进机构的自由度，基于解析法构建了矢量推进机构的位置模型。其次，推导出了矢量推进机构的输出矢量和输入矢量之间的关系，并采用粒子群优化算法对矢量推进机构进行了位置正解计算。然后，基于矩阵分析法从速度雅克比矩阵和机构特征性角度研究了机构奇异性，计算了矢量推进机构动平台的工作空间。最后，搭建了UPR-UPU-UR矢量推进机构的实验平台，并进行了试验研究。数值仿真和实验结果表明：粒子群优化算例在绝对误差小于0.001°下可获得机构动平台的精确位姿，机构的矢量推进性能实验值与理论值存在的最大误差为5%，这证实了该机构具有良好的运动特性和推进性能。矢量推进机构是通过改变两条支链长度来调整螺旋桨的推力方向，使机器人可以具备偏航、俯仰、横滚等多种运动模式，有助于其实现复杂的水下运动。

Abstract

In this study

a vector propulsion mechanism with the UPR-UPU-UR configuration was investigated to develop an underwater vehicle propulsion device with space attitude adjustment

high precision

and large torque power transmission. First

the degree of freedom of the vector propulsion mechanism was calculated using screw theory

and the position model of the vector propulsion mechanism was constructed using an analytical method. Second

the relationship between the output vector and input vectors of the vector propulsion mechanism was derived

and the particle swarm optimization algorithm was used to calculate the position positive solution of the vector propulsion mechanism. Third

the singularity of the mechanism was evaluated using the Jacobian matrix corresponding to the angle of velocity and the characteristics of the mechanism

and the workspace of the vector propulsion mechanism was calculated. Finally

the experimental platform of the vector propulsion mechanism with the UPR-UPU-UR configuration was built

and experiments were conducted. The results of numerical simulations and experiments demonstrate that the precise position and attitude of the mechanism could be obtained when the absolute error was less than 0.001°

and the maximum error between the experimental and theoretical values of the vector propulsive performance was 5%

which proved that the mechanism had good motion characteristics and propulsive performance. The vector propulsion mechanism adjusted the thrust direction of the propeller by varying the length of two branch chains

such that the robot could exhibit various motion modes

such as yaw

pitch

and roll

which helped in achieving the complex underwater motion.

关键词

Keywords

references

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