新型自协作移动机器人及其力学协调分配方法

New self-cooperation mobile robot and force coordinated distribution method

为获取机器人在操作过程中的最优力学性能,以可以实现多种操作模式的新型轮腿复合机器人为研究对象,提出一种自协作模式下的机器人动力学计算方法。首先,运用牛顿.欧拉方法求解支链的动力学方程,得到支链与平台之间的作用力关系;然后,根据力可操作度指标与动平台承受载荷方向的关系,并以各支撑支链关节力矩最小为目标,提出机器人在自协作模式下支链位置以及支撑力的最优协调分配方法;最后,以特定操作任务为算例,对提出的计算方法进行实例计算与仿真验证。研究结果表明:在引入姿态调整环节后,机器人力矩范数与能耗明显降低,且理论计算结果与仿真结果呈现一致性。

In order to obtain the optimal mechanical performance of the robot during operation, a new wheellegged robot that can realize multiple operating modes was taken as the research object, and a robot dynamics calculation method in self-cooperation mode was proposed. Firstly, the Newton-Eulerian method was used to solve the dynamic equation of the branch, and the force relationship between the branch and the platform was obtained. Then, with consideration of the relationship between the manipulability index and the load direction of the moving platform, taking the minimum joint torque of each support branch as the object, the optimal coordination and distribution method of the branch position and support force of the robot in self-cooperation mode were proposed. Finally, the calculation and the simulation of the calculation method proposed were carried out by taking the specific operation task as an example. The results show that after orientation adjustment, the robot torque norm and energy consumption are significantly reduced, and the theoretical calculation and simulation results are consistent.