摘要
对四面体及多面体机器人的研究现状进行了分析.介绍了空间四面体翻滚机器人的结构,由6根伸缩臂和4个顶部节点平台组成,通过伸缩臂的运动可以使四面体的重心失稳,实现翻滚运动.结合四面体翻滚机器人的运动形式,给出了翻滚的临界条件,根据不同的运动阶段对四面体翻滚机器人进行了运动学分析.利用Adams虚拟样机技术对四面体翻滚机器人进行了运动学仿真,并进行了样机的实验,验证了方法的正确性.该分析结果可进一步用于空间四面体翻滚机器人的动力学分析和优化设计.
The research status of tetrahedral robot was analyzed.The mechanism of tetrahedral rolling robot was introduced.The robot comprises of six extension struts and four node flats.When the center of gravity（COG） of tetrahedron exceeds the stability region,the robot will roll.Kinematic model in different motion phase was analyzed according to the structure and motion characteristic of the tetrahedral robot,and the rolling critical condition was formulated.The simulation model was built by virtual flat software Adams,and the effectiveness of the method was testified through simulation and experiment.The results provide important reference for the dynamic analysis,optimization design and control of the tetrahedral rolling robot.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2011年第4期415-420,427,共7页
Journal of Beijing University of Aeronautics and Astronautics
关键词
空间四面体翻滚机器人
运动学分析
临界条件
运动学仿真
tetrahedral rolling robot
kinematic analysis
rolling critical condition
motion simulation
