轮腿复合移动机器人RUPURUPR球面并联腿机构-农业机械学报.PDFVIP

20 17 年8 月 农 业 机 械 学 报 第48 卷 第 8 期 doi:10.6041/ j.issn.1000鄄1298.2017.08.045 轮 腿复合移动机器人RUPU RUPR球面并联腿机构动力学研究 桑董辉摇 陈摇 原摇 高摇 军 (山东大学(威海)机电与信息工程学院,威海264209) 摘要:提出了一种二自由度球面并联腿机构,并以该机构为基础,设计了一种结构简单且越障性能良好的轮 腿复合 移动机器人。 阐述了该机构的组成,采用解析几何法和闭环约束方程构建了RUPU RUPR球面并联腿机构的位置 逆解、工作空间、速度和加速度模型,并验证了其准确性。 运用牛顿 欧拉法建立了RUPU RUPR球面并联腿机构的 动力学模型。 在给定动平台的运动规律和外力后,通过动力学方程求解出RUPR驱动支链驱动力,RUPU驱动支链驱 动力矩以及RUPR驱动支链约束力矩,并给出动力学模型仿真解。 结果表明该机构具有良好的工作性能。 关键词:轮 腿复合移动机器人;球面并联机构;动力学模型 中图分类号:TP242;TH113 文献标识码:A 文章编号:1000鄄1298(2017)08鄄0376鄄08 Dynamics Investigation of RUPU RUPR Spherical Parallel Mechanism for Wheel Legged Mobile Robot SANG Donghui摇 CHEN Yuan摇 GAOJun (School of Mechanical,Electrical Information Engineering,Shandong University,Weihai264209,China) Abstract:A kind of 2鄄DOF spherical parallel mechanism was presented. Based on the mechanism,a type of wheel legged mobile robot was developed,which had a simple structure and a good obstacle climbing ability. Accordingtothedesigntheoryforparallel mechanismsbasedonposition andorientation characteristic equation and the principle for the coupling degree reducing, a novel 2鄄DOF spherical parallel mechanismwasproposed. Theinversekinematics,workspace,velocity andaccelerationmodelof RUPU RUPR spherical parallel mechanismwere modeledby using analytic geometry method and closed loop constraint equation. The workspace,velocity and acceleration solutions were verified by numerical methods. The dynamic equations of RUPU RUPR spherical parallel mechanismwas also established by Newton Euler formulation. Given the platform moving rules and external forces,the driving torque of the RUPUjointandtheconstraintstorqueoftheRUPRjointwerecalculated. Asimulationsolutionofthe