仿生爬树机器人髋关节运动精度可靠性分析与优化
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摘要
以一种非对称空间两自由度并联机构作为仿生爬树机器人的髋关节,能够实现机器人机构沿树干爬升及抱树的复合动作,以此仿生爬树机器人的髋关节为研究对象,基于一阶泰勒展开,建立了包含髋关节机构杆长误差因素、铰链间隙误差因素和机构输入误差因素在内的机构位姿误差数学模型,给定机构参数后,基于所建立误差数学模型,运用蒙特卡罗法得到了髋关节机构运动可靠度,进一步分析了不同误差因素对机构可靠度影响,以及同一误差因素对机构不同方向运动可靠度的影响,并分析了此算例中机构可靠度与机构输入参数之间的关系,最后基于对机构可靠性分析,应用线性加权法对仿生爬树机器人的髋关节机构参数进行了多目标优化设计。
A spatial asymmetric 2-DOF parallel mechanism is used as hip joint of the bionic tree-climbing robot,which can realize the robot climb along the trunk and hug the tree. The hip joint of the bionic tree-climbing robot is investigated in this paper. Based on the first order Taylor approach,considering the error factors such as the length error of the rod,the error factor of the hinge gap and the input error of the hip joint mechanism,the error model is presented. After the parameters of the mechanism are given,the Monte Carlo method is used to obtain the reliability of the hip joint mechanism. The influence of different error factors on reliability of the mechanism and the influence of the same error factors on the reliability of different directions are analyzed,and the relationship between the reliability and the input parameters of the mechanism are analyzed. Based on reliability of kinematic accuracy,multi-objective optimization design for the bionic tree-climbing robot hip joint mechanism parameters is carried out by linear weighting method.
A spatial asymmetric 2-DOF parallel mechanism is used as hip joint of the bionic tree-climbing robot,which can realize the robot climb along the trunk and hug the tree. The hip joint of the bionic tree-climbing robot is investigated in this paper. Based on the first order Taylor approach,considering the error factors such as the length error of the rod,the error factor of the hinge gap and the input error of the hip joint mechanism,the error model is presented. After the parameters of the mechanism are given,the Monte Carlo method is used to obtain the reliability of the hip joint mechanism. The influence of different error factors on reliability of the mechanism and the influence of the same error factors on the reliability of different directions are analyzed,and the relationship between the reliability and the input parameters of the mechanism are analyzed. Based on reliability of kinematic accuracy,multi-objective optimization design for the bionic tree-climbing robot hip joint mechanism parameters is carried out by linear weighting method.
引文
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[12]杨明.变杆长对曲柄滑块机构位移可靠性的影响分析[J].机械设计与研究,2018,34(1):82-86.
[13]庞欢,喻天翔,宋笔锋.平面连杆机构运动精度可靠敏度分析[J].中国机械工程,2014,25(18):2415-2421.
[14]黄玮,冯蕴雯,吕震宙,等.考虑铰链运动副间隙的机构运动可靠性分析模型[J].机械强度,2007,29(2):264-268.
[15]FLORES P,AMBROSIO J.Revolute joints with clearance in multibody systems[J].Computers&Structures,2004,82(17):1359-1369.
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[18]陈放,李欣玲,佘霞,等.平面轨迹机构时变可靠性分析的联合概率方法[J].机械工程学报,2017,53(15):119-124.
[19]张义民,黄贤振,贺向东.不完全概率信息牛头刨床机构运动精度可靠性稳健设计[J].机械工程学报,2009,45(4):105-110.
[20]孙志礼,杨强,闫明,等.3-RPS并联机器人运动可靠性仿真研究[J].机械科学与技术,2007,26(6):780-783.
[21]吴任和,张策.基于随机概率的并联机构运动可靠性分析[J].组合机床与自动化加工技术,2016,3(3):41-43.
[22]杨强,孙志礼,闫明,等.改进Delta并联机构运动可靠性分析[J].航空学报,2008,29(2):487-491.
[23]周志琨,曹睿,赵现朝,等.‘3-3’-PSS型并联机器人运动学参数标定[J].机械设计与研究,2016,32(4):31-36.
[24]LEE S J,GILMORE B J.The determination of the probabilistic properties of velocities and accelerations in kinematic chains with uncertainty[J].Journal of Mechanical Design,1991,113(1):9-13.
[2]KIM S,SPENKO M,TRUJILLO S,et al.Smooth vertical surface climbing with directional adhesion[J].IEEE Transactions on Robotics,2008,24(1):65-74.
[3]BERNARDI R D,CRUZ J J D.A fuzzy control approach for a tree climbing robotic platform[M].Emerging Trends In Mobile Robotics,2015.
[4]LAM T L,XU Y.Mechanical design of a tree gripper for miniature tree-climbing robots[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,San Francisco:IEEE,2011:1487-1492.
[5]田兴华,高峰,陈先宝,等.四足仿生机器人混联腿构型设计及比较[J].机械工程学报,2013,49(6):81-88.
[6]戴建生,唐昭.一种在腰部使用变胞机构的多足仿生机器人:中国,ZL104859745A[P].2015-08-26.
[7]甄伟鲲,康熙,张新生,等.一种新型四足变胞爬行机器人的步态规划研究[J].机械工程学报,2016,52(11):26-33.
[8]王汝贵,袁吉伟,孙家兴,等.一种空间非对称2自由度并联机构设计与应用研究[J].机械设计,2017,34(8):85-91.
[9]王汝贵,袁吉伟,孙家兴,等.一种步进式变胞爬树机器人机构:中国,ZL 201710182467.6[P].2017-08-04.
[10]同长虹,黄建龙.曲柄滑块机构中滑块输出位移的可靠性分析[J].上海交通大学学报,2010,44(12):1716-1720.
[11]拓耀飞,陈建军,张驰江,等.弹性曲柄滑块机构的运动精度可靠性分析[J].机械设计与研究,2006,22(1):26-28.
[12]杨明.变杆长对曲柄滑块机构位移可靠性的影响分析[J].机械设计与研究,2018,34(1):82-86.
[13]庞欢,喻天翔,宋笔锋.平面连杆机构运动精度可靠敏度分析[J].中国机械工程,2014,25(18):2415-2421.
[14]黄玮,冯蕴雯,吕震宙,等.考虑铰链运动副间隙的机构运动可靠性分析模型[J].机械强度,2007,29(2):264-268.
[15]FLORES P,AMBROSIO J.Revolute joints with clearance in multibody systems[J].Computers&Structures,2004,82(17):1359-1369.
[16]师忠秀,王锋.机构运动精度可靠性分析方法的研究[J].机械科学与技术,1997,16(1):115-121.
[17]CHOI D H,YOO H H.Reliability analysis of arobotmanipulator operation employing single Monte-Carlosimulation[J].Key Engineering Materials,2006,321:1568-1571.
[18]陈放,李欣玲,佘霞,等.平面轨迹机构时变可靠性分析的联合概率方法[J].机械工程学报,2017,53(15):119-124.
[19]张义民,黄贤振,贺向东.不完全概率信息牛头刨床机构运动精度可靠性稳健设计[J].机械工程学报,2009,45(4):105-110.
[20]孙志礼,杨强,闫明,等.3-RPS并联机器人运动可靠性仿真研究[J].机械科学与技术,2007,26(6):780-783.
[21]吴任和,张策.基于随机概率的并联机构运动可靠性分析[J].组合机床与自动化加工技术,2016,3(3):41-43.
[22]杨强,孙志礼,闫明,等.改进Delta并联机构运动可靠性分析[J].航空学报,2008,29(2):487-491.
[23]周志琨,曹睿,赵现朝,等.‘3-3’-PSS型并联机器人运动学参数标定[J].机械设计与研究,2016,32(4):31-36.
[24]LEE S J,GILMORE B J.The determination of the probabilistic properties of velocities and accelerations in kinematic chains with uncertainty[J].Journal of Mechanical Design,1991,113(1):9-13.