水下自重构机器人Kane动力学建模方法

Dynamic Modeling of Underwater Self-Reconfigurable Robot with Kane's Method

针对水下自重构机器人构形多变且外部环境复杂等特点,提出了一种通用的、基于构形描述及Kane动力学的建模方法.利用图论中关于拓扑结构的描述方法,建立水下自重构机器人多种拓扑构形的统一数学表达,再结合Kane方法,在模型中加入水下各种外部环境作用力,最终建立封闭的水下自重构机器人运动方程.通过典型构形的建模实例,证明了该方法的可应用性和有效性.

The variation of configuration and complexity of external environment pose a great challenge to the dynamic modeling for underwater self-reconfiguration robot. In this paper, a general dynamic modeling method was proposed for underwater self-reconfigurable robot based on configuration expression and Kane＇s method. The method analysing topological structure in graph theory was introduced to acquire a uniform mathematic expression for the multiform configurations present in underwater self-reconfigurable robot. Utilizing Kane＇s method, a final closed-form motion equation for underwater self-reconfiguration robot was developed incorporating external environment actions into the model. Modeling example for a classic configuration verifies the applicability and effectiveness of the proposed method.