水下可重构机器人腿部结构设计与自由度分析

Leg Structure Design and Degree of Freedom Analysis of Underwater Reconfigurable Robot

水利工程对水下机器人功能要求多样化,本文以水下可重构机器人为研究对象,研究腿部结构可重构使机器人具有多种移动模式,预期实现一机多用。本文将通过锁死UPS支链中等效球副中的一个转动,重构出3类U*PU支链,分析了各类支链的约束特点,得出Ⅰ类U*PU支链改变自由度的性质,Ⅱ类改变自由度的方向,Ⅲ类是一种不变自由度支链。基于含Ⅲ类U*PU支链的4-U*PU并联机构,设计水下可重构机器人的腿部结构,使其腿部具有2T2R和1R2T两种运动模式。采用旋量理论研究了腿部结构各运动模式变换过程中的自由度性质,分析机器人可重构性,使其满足爬行和蠕动两种运动需求。

In view of the diversified functional requirements of underwater robots in water conservancy projects,this paper takes underwater reconfigurable robots as the research object,and studies the reconfigurable leg structure to make the robot have a variety of mobile motion modes,which is expected to achieve multi-purpose.In this paper,three types of U*PU branched chains are reconstructed by locking a rotation in the equivalent spherical pair in the UPS branched chain,and the constraint characteristics of each type of branched chain are analyzed.It is concluded that the type I U*PU branched chain changes the nature of the degree of freedom,the type II changes the direction of the degree of freedom,and the type III is a constant degree of freedom branched chain.Based on the 4-U*PU parallel mechanism with class III U*PU branches,the leg structure of the underwater reconfigurable robot is designed,so that the leg has two motion modes of 2T2R and 1R2T.The screw theory is used to study the degree of freedom in the transformation process of each motion mode of the leg structure,and the reconfigurability of the robot is analyzed to meet the two motion requirements of crawling and creeping.