双足磁吸附五自由度爬行机器人运动学模型构建及求解
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摘要
由于应用于特种行业及复杂工程领域的爬行机器人研究的重要性,在设计出一种双足磁吸附五自由度爬行机器人机械系统的基础上,以该五自由度爬行机器人的机构为研究对象,运用D-H参数法进行其运动模型构建,并通过矩阵变换,推导出了该机器人的正运动学解的齐次矩阵,并通过数学求解求出其逆解,然后采用MATLAB对该机器人的运动数学模型进行仿真分析,得出其正解和逆解。将仿真结果与计算结果进行对比分析,验证了所建立的五自由度爬行机器人运动模型的正确性。该研究对于开发五自由度爬行机器人的控制系统及控制策略,以及它在具体工程实践中的应用具有重要的研究基础作用。
Based on the importance of different types of micro climbing robots in special industry and complex engineering field,a new kind of micro climbing robot with five degrees of freedom adsorbed by biped electromagnetic sucker was designed. Taking the 5-DOF micro-robot as the research object,its kinematic model was built by means of the D-H parameters theory. Through the matrix transformation, the homogeneous matrix solutions of the forward kinematics of the robot were deduced. And through the mathematical solution, its inverse solution was found.Then, the forward kinematics solution and the inverse kinematics solution were obtained by the MATLAB simulation.The simulation results were compared with the calculation results, which verified the correctness of the motion model of the miniature 5-DOF crawling robot. It provides reference for developing the control system and control strategy of the five degree of freedom crawl robot and its application in specific engineering practice.
Based on the importance of different types of micro climbing robots in special industry and complex engineering field,a new kind of micro climbing robot with five degrees of freedom adsorbed by biped electromagnetic sucker was designed. Taking the 5-DOF micro-robot as the research object,its kinematic model was built by means of the D-H parameters theory. Through the matrix transformation, the homogeneous matrix solutions of the forward kinematics of the robot were deduced. And through the mathematical solution, its inverse solution was found.Then, the forward kinematics solution and the inverse kinematics solution were obtained by the MATLAB simulation.The simulation results were compared with the calculation results, which verified the correctness of the motion model of the miniature 5-DOF crawling robot. It provides reference for developing the control system and control strategy of the five degree of freedom crawl robot and its application in specific engineering practice.
引文
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[2] 闫久江,赵西振,左干,等.爬壁机器人研究现状与技术应用分析[J].机械研究与应用,2015,28(3):52-54.YAN J J,ZHAO X Z,ZUO G,et al.Research Status and Analysis of Technology Application for Wall-Climbing Robot[J].Mechanical Research & Application,2015,28(3):52-54.
[3] ZIMMERMANN K,NALETOVA V A,ZEIDIS I,et al.A Deformable Magnetizable Worm in a Magnetic Field:A Prototype of a Mobile Crawling Robot[J].Journal of Magnetism and Magnetic Materials,2007,311(1):450-453.
[4] T?CHE F,FISCHER W,SIEGWART R,et al.Compact Magnetic Wheeled Robot With High Mobility for Inspecting Complex Shaped Pipe Structures[C]//Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems,2007:261-266.
[5] 刘淑良,赵言正,高学山,等.喷砂、喷漆、测量用磁吸附爬壁机器人[J].高技术通讯,2000,10(9):86-88.LIU S L,ZHAO Y Z,GAO X S,et al.A Wall Climbing Robot with Magnetic Crawlers for Sand-blasting Spray-painting and Measurement[J].High Technology Letters,2000,10(9):86-88.
[6] KIM H,KIM D,YANG H,et al.Development of a Wall-climbing Robot Using a Tracked Wheel Mechanism[J].Journal of Mechanical Science and Technology,2012,22(8):1490-1498.
[7] 徐泽亮,马培荪.爬壁机器人履带多体磁化结构吸盘的设计及优化[J].机械工程学报,2004,40(3):168-172.XU Z L,MA P S.Design of the Wall-climbing Robot’s Tracked Sucker Based on Multi-body Magnetic Gradual Alternatie System[J].Journal of Mechanical Engineering,2004,40(3):168-172.
[8] 高云峰,吕明睿,周伦,等.一种五自由度混联机器人运动学分析[J].哈尔滨工业大学学报,2014,46(7):1-7.GAO Y F,LV M R,ZHOU L,et al.Analysis of Kinematics of a Five-axis Hybrid Manipulator[J].Journal of Harbin Institute of Technology,2014,46(7):1-7.
[9] 于靖军,刘辛军,丁希仑,等.机器人机构学的数学基础[M].北京:机械工业出版社,2008.
[10] 董伟光,王洪光,姜勇.一种轮足复合式爬壁机器人动力学建模与分析[J].机器人,2015,37(3):264-270.DONG W G,WANG H G,JIANG Y.Dynamics Modeling and Analysis of a Wall-climbing Robot with Biped-wheel Hybrid Locomotion Mechanism[J].Robot,2015,37(3):264-270.
[11] 王保卫,冯勇,许惠,等.3-DOF混联机构的动力学建模与仿真分析[J].机床与液压,2016,44(3):27-30.WANG B W,FENG Y,XU H,et al.Dynamics Modeling and Simulation Analysis of 3-DOF Parallel Mechanism[J].Machine Tool & Hydraulics,2016,44(3):27-30.
[12] 王梦,付铁,丁洪生,等.7自由度串联机器人运动学分析[J].机械设计与制造,2016(8):8-11.WANG M,FU T,DING H S,et al.Kinematics Analysis of a 7-DOF Serial Robot[J].Machinery Design & Manufacture,2016(8):8-11.