本文選題：越障能力　切入點(diǎn)：運(yùn)動(dòng)規(guī)劃　出處：《機(jī)械工程學(xué)報(bào)》2017年07期 　論文類型：期刊論文

【摘要】：為了考察閉鏈弓形五連桿的地形適應(yīng)性,分析其越障能力并對(duì)越障過程進(jìn)行運(yùn)動(dòng)規(guī)劃。建立閉鏈弓形五連桿質(zhì)心運(yùn)動(dòng)學(xué)分析模型,利用齊次變換推導(dǎo)了桿系質(zhì)心坐標(biāo)關(guān)于接觸角和主動(dòng)關(guān)節(jié)角的表達(dá)式。通過分析越障過程中的運(yùn)動(dòng)約束和幾何約束,建立最大越障高度的數(shù)學(xué)模型,利用數(shù)值算法獲得了最大越障高度隨接觸角和關(guān)節(jié)圓半徑的變化曲線。根據(jù)質(zhì)心可行域邊界曲線內(nèi)凹的特點(diǎn),依照行程最短策略采用切線法來規(guī)劃越障過程中系統(tǒng)質(zhì)心運(yùn)動(dòng)路徑,進(jìn)而利用運(yùn)動(dòng)學(xué)逆解得到主動(dòng)關(guān)節(jié)軌跡。通過樣機(jī)試驗(yàn)驗(yàn)證了分析結(jié)果的正確性。
[Abstract]:In order to investigate the terrain adaptability of the closed chain arched five-bar, analyze its ability of surmounting obstacles and plan the motion of the obstacle surmounting process, a kinematic analysis model of the mass center of the closed chain arched five-bar is established. By using homogeneous transformation, the expressions of contact angle and active joint angle in the coordinate of the center of mass of the bar system are derived. By analyzing the motion and geometry constraints in the process of obstacle surmounting, the mathematical model of the maximum obstacle height is established. The curve of maximum obstacle height with contact angle and radius of joint circle is obtained by numerical method. According to the concave characteristic of boundary curve in the feasible region of centroid of mass, According to the shortest stroke strategy, the tangent method is used to plan the motion path of the center of mass in the process of obstacle crossing, and then the kinematics inverse solution is used to obtain the trajectory of the active joint. The correctness of the analysis results is verified by the prototype test.
【作者單位】： 武漢紡織大學(xué)機(jī)械工程與自動(dòng)化學(xué)院;華中科技大學(xué)機(jī)械科學(xué)與工程學(xué)院;
【基金】：國家自然科學(xué)基金資助項(xiàng)目(51275363)
【分類號(hào)】：TP242

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本文編號(hào)：1570256