六足机器人整机运动学分析及构型选择

张金柱; 金振林; 张哲

doi:10.3788/OPE.20172507.1832

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六足机器人整机运动学分析及构型选择

微纳技术与精密机械 | 更新时间：2020-07-07

- 六足机器人整机运动学分析及构型选择
- Kinematics analysis and configuration selection of whole machine of hexapod robot
- 光学精密工程 2017年25卷第7期页码：1832-1842
- 作者机构：
  
  1.燕山大学机械工程学院秦皇岛 066004
  2.上海交通大学机械系统与振动国家重点实验室上海 200240
- 作者简介：
  
  [ "张金柱(1989-), 男, 山西朔州人, 博士研究生, 2013年于燕山大学获得学士学位, 主要从事多足机器人设计理论与应用技术方面的研究。E-mail:ysuzhangjz@126.com" ]
  [ "金振林(1962-), 男, 博士, 教授, 博士研究生导师。主要研究方向为并联机器人设计理论与应用技术。E-mail:zljin@ysu.edu.cn" ]
- 基金信息：
  
  国家重点基础研究发展计划（973计划）(2013CB035501);机械系统与振动国家重点实验室课题资助项目(MSV201506);河北省高等学校科学技术研究项目(QN2015185);河北省研究生创新资助项目(2016SJBS011)
- DOI：10.3788/OPE.20172507.1832
  中图分类号： TP394.1;TH691.9
- 收稿日期：2016-12-28，
  
  录用日期：2017-4-4，
  
  纸质出版日期：2017-07-25
- 稿件说明：
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张金柱, 金振林, 张哲. 六足机器人整机运动学分析及构型选择[J]. 光学精密工程, 2017,25(7):1832-1842.

Jin-zhu ZHANG, Zhen-lin JIN, Zhe ZHANG. Kinematics analysis and configuration selection of whole machine of hexapod robot[J]. Optics and precision engineering, 2017, 25(7): 1832-1842.
张金柱, 金振林, 张哲. 六足机器人整机运动学分析及构型选择[J]. 光学精密工程, 2017,25(7):1832-1842. DOI： 10.3788/OPE.20172507.1832.

Jin-zhu ZHANG, Zhen-lin JIN, Zhe ZHANG. Kinematics analysis and configuration selection of whole machine of hexapod robot[J]. Optics and precision engineering, 2017, 25(7): 1832-1842. DOI： 10.3788/OPE.20172507.1832.

摘要

六足机器人整机构型设计和整机运动学模型是机器人样机研制和行为控制的基础。利用GF集理论阐明了六足机器人整机构型设计的实质即为解决机械腿在机身平台上的布局问题，并基于仿生学原理给出了5种整机构型。介绍了一种三自由度并联驱动腿部机构，并利用闭环矢量链及求导的方法建立了基于该腿部机构的六足机器人整机运动学模型。本文给出了六足机器人整机运动学理论及仿真算例，推导出了速度、加速度的理论值及仿真值的拟合图。拟合结果表明：角速度、角加速度的理论值与仿真值的最大误差量级分别为10

-2

（°）/s和10

-3

（°）/s

，验证了理论模型的正确性。基于该理论模型，绘制了不同构型下该并联驱动腿的六足机器人的工作空间分布图，选择了工作空间较大的两种整机构型，并对这两种构型下的六足机器人的运动学性能进行对比分析，选择了一种能够更好发挥该腿部机构综合运动能力的整机构型。本文的研究为该六足机器人的后续研究奠定了理论基础。所使用的整机运动学建模方法对其他六足机器人也实用。

Abstract

The whole machine configuration design and kinematics model of hexapod robot are foundation of robot prototype development and behavior control. GF set theory is adopted to illustrate that essence of whole machine configuration design of hexapod robot is to solve layout problem of mechanical legs on body platform

and five types of whole machine configurations are given based on bionics principle. A kind of parallel-driven leg mechanism with three degree of freedom is introduced

and kinematics model of whole machine of hexapod robot based on this leg mechanism is established with method of close-loop vector chain and derivation. Kinematics theory and simulation example of whole machine of hexapod robot are respectively given

and fitting pictures of theory values and simulation values for speed and accelerated speed are derived. Fitting results indicate that maximum error orders of theory angular speed and angular accelerated speed with those of simulated are respectively 10

-2

(°)/s and 10

-3

(°)/s

which verifies correctness of theoretical model. Work space distribution maps of hexapod robot based on this parallel-driven leg under different configurations are drawn

and two types of whole machine configurations having large work space are selected. Kinematics performance of hexapod robot under these two configurations is compared

and a whole machine configuration to better exert comprehensive athletic ability of this leg mechanism is selected. This research can lay theoretical basis for the following research of this hexapod robot. Kinematical modeling method of whole machine used is also practical for other hexapod robots.

关键词

Keywords

references

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