空间八面体翻滚机器人运动学分析及仿真研究

Study on the Kinematics Analysis and Simulation of Space Octahedron Rolling Robot

设计了一种空间八面体翻滚机器人,由6个顶点模块、12个伸缩单元模块以及1个载荷体模块构成;通过控制各伸缩杆之间的伸缩量来改变机器人重心,实现向目标方向翻滚。对空间八面体翻滚机器人的运动学正解和反解过程进行了分析计算,运用ADAMS软件对空间八面体翻滚机器人进行了步态规划及越障能力的动态仿真,验证了运动学分析的正确性,并得到了顶点及质心的运动规律曲线。该运动学分析方法与仿真结果为空间多面体翻滚机器人的优化设计提供了重要依据。

A robot with rolling ability based on spatial octahedron,which consists of 6 vertex modules,12 telescopic unit expansion modules and 1 load module is designed.In order to controlling the robot to roll in a particular direction,the system changes the center of gravity by controlling the amount of expansion and contraction quantity between the telescopic rods.In this study,the process of forward kinematics solution and inverse kinematics solution of the robot are analyzed.According to the analysis,by using the ADAMS software,the dynamic simulation of the movement of the robot,which contain the simulation for gait planning and climbing obstacle capability is finished.Through the result of the dynamic simulation,the correctness of kinematics analysis is validated,and the motion curve of the robot vertices and the centroid is also obtained.The method and simulation results of the kinematics analysis of this study provide an important basis for the optimization design of the space polyhedron rolling robot.