基于旋量动力学建模的可重构轮手一体机器人越障性能研究

Research on obstacle-negotiation performance of a reconfigurable wheel-manipulator robot based on screw's dynamics formulation

为研究可重构轮手一体机器人的越障性能,描述了机器人轮手复合越障过程,基于旋量理论建立了单模块可重构轮手一体移动机器人翻越台阶型障碍的动力学模型。对影响机器人电机力矩的三个因素——台阶高度、手臂长度和机器人运动参数进行了仿真,对越障过程中的稳定性进行了分析,得到了机器人的稳定工作域,最后通过实验得到机器人极限越障高度,为机器人结构的优化和越障性能的提升提供了理论依据。

To study the obstacle negotiation capacity of reconfigurable wheel-manipulator robots, the combined wheel-ma- nipulator obstacle negotiation process was described, and based on the screw theory, the dynamic formulation of stair-climbing on a slope for reconfigurable wheel-manipulator robots was established by using the virtual mechanism method. Because of the diversity of configuration and the flexibility of motion, the dynamic formulation using conven- tional approaches is complex, moreover, it is difficult to expansion to multiple modules. Whereas adopting the screw theory, concise and unified description of complex mechanisms can be derived, and the Jacobian matrix is easily ob- tained by exponential product formula. Three factors affecting the motor torque mainly, such as stair height, arm length and kinematic parameters, were simulated, and the stability in the obstacle-negotiation process was analyzed and the result of stable working range was obtained. The maximum stair-height that the robot can negotiate was achieved by simulation and experiment.