摘要
针对危险性高、地形复杂、狭窄封闭人类不宜进入的地下空间重物搬运任务需求,提出一种基于2-RUS+UP并联机械腿的新型六足移动机器人。该机器人每条腿采用模块化设计,具有2个转动和1个移动共3个自由度,具有相同的拓扑结构。对机械腿的位置逆解进行分析,基于矢量法建立2-RUS+UP并联腿的运动学模型,得到机械腿的速度映射关系;采用快速极坐标极限搜索法对单腿的工作空间进行分析;基于三角形稳定性原理,规划了一种3+3步态,分析机器人行进时的5种典型步态。规划一段足端为五次多项式的运行规律轨迹,确保机器人步行的稳定性和减少迈步和着地时足端与地面的冲击。最后,在ADAMS中搭建虚拟样机进行运动学仿真,并与MATLAB理论计算结果进行对比验证。仿真与理论对比结果表明:移动副和驱动支链的位移、速度、加速度曲线变化规律一致,曲线光滑无突变,验证了运动学模型的正确性。其中,移动副位移变化范围为0~150 mm,速度范围为0~280 mm/s;驱动支链角位移范围为0~30°,角速度范围为0~70(°)/s。所提的基于2-RUS+UP并联机械腿的六足移动机器人构型合理,运动学模型准确,工作空间满足地下复杂地形搬运需求,所规划的3+3步态能够保证机器人稳定行走。
To address the task requirements of transporting heavy objects in hazardous,complex terrain,and confined underground spaces unsuitable for human entry,a novel hexapod mobile robot based on 2-RUS+UP parallel mechanical legs was proposed.Each leg of the robot was designed with a modular structure,possessing three degrees of freedom(two rotational and one translational),and all legs shared the same topology.The inverse position solution of the mechanical leg was analyzed,and a kinematic model of the 2-RUS+UP parallel leg was established using the vector method,from which the velocity mapping relationship of the mechanical leg was obtained.The workspace of a single leg was analyzed using the fast polar coordinate limit search method.Based on the principle of triangular stability,a 3+3 gait was planned,and five typical gaits during robot locomotion were analyzed.A trajectory with a quintic polynomial foot-end motion law was planned to ensure the stability of the robot′s walking and to reduce the impact between the foot and the ground during stepping and landing.Finally,a virtual prototype was built in ADAMS for kinematic simulation,and the results were compared with theoretical calculations performed in MATLAB.The comparison between simulation and theory show that the displacement,velocity,and acceleration of the prismatic joint and the driving branches exhibit consistent variation patterns,with smooth and non-abrupt curves,verifying the correctness of the kinematic model.Specifically,the displacement of the prismatic joint ranges from 0 to 150 mm,and its velocity ranges from 0 to 280 mm/s;the angular displacement of the driving branches ranges from 0 to 30°,and the angular velocity ranges from 0 to 70(°)/s.The proposed hexapod mobile robot based on 2-RUS+UP parallel legs has a reasonable configuration,an accurate kinematic model,a workspace that meets the requirements for handling in complex underground terrain,and the planned 3-3 gait ensures stable walking.
作者
张启升
李瑞琴
宁峰平
ZHANG Qisheng;LI Ruiqin;NING Fengping(School of Mechanical Engineering,North University of China,Taiyuan Shanxi 030051,China)
出处
《机床与液压》
北大核心
2026年第5期21-27,共7页
Machine Tool & Hydraulics
基金
山西省重点研发计划项目(202202150401018)
2023年度山西省教育科学“十四五”规划“教育数字化与教育教学改革”专项课题(SZH-230040)。
