摘要
根据飞机制孔的技术要求,设计了一种飞机制孔六足机器人。机器人采用行走-定位一体化的设计方案,并且具有冗余驱动。首先介绍机器人的构型,对机构的自由度进行了分析,然后建立机器人的运动学和动力学模型,重点研究了机器人的力/位置混合控制策略,最后进行了行走实验和工作平台位姿调整实验。实验表明,力/位置混合控制策略满足制孔机器人行走和定位的性能指标。
To meet the requirements for drilling aircraft component, a hexapod robot is designed. The robot is walking-positioning integrated with redundant drive. First the mechanism configuration is introduce and the DOF is analysed, then the kinematics and dynamics model is established. Force/position hybrid control strategy is the key point of research. Finally, walking experiments and pose adjustment of working platform experiments are performed. The exper- iments show that force/position hybrid control strategy meets the requirements of walking and positioning of hexapod robot for drilling aircraft component.
出处
《机械设计与研究》
CSCD
北大核心
2012年第6期52-55,59,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(51175323)
