摘要
设计了一种可变形的陆地两栖八面体机器人,其主要由传动模块、伸缩模块、传动机构和顶点模块构成。机器人在陆地上的运动主要是通过控制伸缩模块中的杆件伸缩量来改变机器人重心位置,实现机器人沿着指定方向进行翻转;空间运动通过调整螺旋桨的姿态来调整机器人飞行的方向及方式,从而确定机器人飞行的轨迹。给出了机器人在地面运动的重心计算公式,机器人运动学正解和反解的计算方法以及机器人在空间飞行过程中的动力学模型,并通过软件对于机器人的动力学进行了仿真,验证了前面理论分析的正确性,该分析结果对于机器人的分析以及运用都具有十分重要的作用。
A deformable terrestrial amphibious octahedron robot is designed, which is mainly composed of transmission module, telescopic module, transmission mechanism and Vertex module. The motion of the robot on land mainly changes the position of the center of gravity of the robot by controlling the expansion of the members in the telescopic module to realize the robot flipping along the specified direction, and the space motion adjusts the direction and mode of the robot flight by adjusting the attitude of the propeller so as to determine the flight trajectory of the robot. The calculation formula of the center of gravity of the robot on the ground, the calculation method of the forward and inverse solutions of the robot kinematics and the dynamic model of the robot in the process of space flight are given. The dynamics of the aircraft is simulated by the software, and the correctness of the previous theoretical analysis is verified. The results play a very important role in the analysis and application of the robot.
作者
韩书葵
王振营
节茂岩
Han Shukui;Wang Zhenying;Jie Maoyan(School of Mechanical and Electrical Engineering,North China institute of Aerospace engineering,Langfang 065000 China)
出处
《北华航天工业学院学报》
CAS
2021年第1期1-4,共4页
Journal of North China Institute of Aerospace Engineering
基金
河北省教育厅重点项目(ZD2018287)
河北省教育厅项目(CXZZSS2019157)
廊坊市科技厅项目(2017011011)
北华航天工业学院项目(ZD201406)。
