轮-腿复合式移动机器人球面并联腿机构的动力学模型

陈原; 何淑垒; 姜媛; 桑董辉; 宁淑荣

doi:10.3788/OPE.20192708.1780

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轮-腿复合式移动机器人球面并联腿机构的动力学模型

微纳技术与精密机械 | 更新时间：2020-08-13

- 轮-腿复合式移动机器人球面并联腿机构的动力学模型
- Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot
- 光学精密工程 2019年27卷第8期页码：1800-1810
- 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：
  
  [ "陈原(1976-)，男，湖北黄冈人，博士，教授，博士生导师，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研究。E-mail：cyzghysy@sdu.edu.cn" ]
  [ "宁淑荣(1967-)女，东北秦皇岛人，副教授，硕士生导师，2007年于燕山大学获得博士学位，主要从事机电系统控制研究。E-mail:ningshurong@163.com" ]
- 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基金资助项目(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：10.3788/OPE.20192708.1780
  中图分类号： TP242
- 收稿日期：2019-01-23，
  
  录用日期：2019-3-22，
  
  纸质出版日期：2019-08-15
- 稿件说明：
移动端阅览
陈原, 何淑垒, 姜媛, 等. 轮-腿复合式移动机器人球面并联腿机构的动力学模型[J]. 光学精密工程, 2019,27(8):1800-1810.

Yuan CHEN, Shu-lei HE, Yuan JIANG, et al. Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot[J]. Optics and precision engineering, 2019, 27(8): 1800-1810.
陈原, 何淑垒, 姜媛, 等. 轮-腿复合式移动机器人球面并联腿机构的动力学模型[J]. 光学精密工程, 2019,27(8):1800-1810. DOI： 10.3788/OPE.20192708.1780.

Yuan CHEN, Shu-lei HE, Yuan JIANG, et al. Dynamic model of spherical parallel mechanism for wheel-leg hybrid mobile robot[J]. Optics and precision engineering, 2019, 27(8): 1800-1810. DOI： 10.3788/OPE.20192708.1780.

摘要

为适应现代工程领域对移动机器人的新要求，拓展移动机器人的作业场合，该文提出了一种轮-腿复合式移动机器人球面并联腿机构。首先，基于球面并联腿机构的闭环约束方程和旋转变换矩阵构建了其位置逆解数学模型；接着，采用代数消元法推导出了球面并联腿机构的位置正解的解析解；然后，运用影响系数法推导出了球面并联腿机构的速度和加速度影响系数矩阵；在此基础上，运用拉格朗日方法建立了球面并联腿机构的动力学模型。运用数值仿真对运动学和动力学模型进行了验证，仿真得到了给定位姿数据与计算位姿数据之间的最大误差为0.012 7 rad，误差不超过实际值的2.43%，发现了球面并联腿机构驱动力的理论曲线和虚拟样机仿真曲线吻合，两者之间的误差稳定在0~1 N的合理范围内，验证了运动学和动力学模型的正确性。研究结果为轮-腿复合式移动机器人的步态规划和运动控制提供了理论参考。

Abstract

To meet the new requirements for mobile robots in the field of modern engineering and expand the working opportunities of mobile robots

a spherical parallel leg mechanism of a wheel-leg composite mobile robot was proposed in this study. First

based on the closed-loop constraint equation and rotation transformation matrix of the spherical parallel leg mechanism

a mathematical model of its inverse position solution was constructed. Next

an analytical solution of the forward position solution of the spherical parallel leg mechanism was deduced by the algebraic elimination method. Then

the influence coefficient matrix of the velocity and acceleration of the spherical parallel leg mechanism was derived from the influence coefficient method. On this basis

the Lagrangian method was used. Kinematics and dynamics models were validated by numerical simulation. The maximum error between the given and calculated position data was 0.012 7 rad

and the error did not exceed 2.43% of the actual value. It is also found that the theoretical curve of the driving force of the spherical parallel leg mechanism coincided with the simulation curve of the virtual prototype. The error between the two was stable within a reasonable range of 0-1 N. The correctness of the kinematics and dynamics model is proved. The results from this study provide a theoretical reference for gait planning and motion control of a wheel-leg hybrid mobile robot.

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references

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