【摘要】：針對(duì)一種具有獨(dú)立運(yùn)動(dòng)自由度的新型模塊化可重構(gòu)機(jī)器人,利用對(duì)偶四元數(shù)描述其各個(gè)模塊空間位姿.對(duì)偶四元描述機(jī)器人重構(gòu)前后的各模塊位姿信息,相對(duì)齊次坐標(biāo)矩陣在數(shù)學(xué)形式上更為簡(jiǎn)潔統(tǒng)一,方便獲取模塊之間轉(zhuǎn)角狀態(tài)、連接面關(guān)系及連接方位關(guān)系等信息.以多個(gè)模塊機(jī)器人攀越臺(tái)階障礙為例,應(yīng)用對(duì)偶四元數(shù)描述方法分析該機(jī)器人越障過程中各模塊空間姿態(tài)、越障高度,結(jié)合電機(jī)選型與重心位置得出該組合構(gòu)型越障的最大高度.仿真實(shí)驗(yàn)驗(yàn)證了對(duì)偶四元數(shù)描述方法在分析模塊化可重構(gòu)機(jī)器人空間位姿中的實(shí)用性與所提出的組合越障方法的可行性.
[Abstract]:For a new modular reconfigurable robot with independent kinematic degrees of freedom, the dual quaternion is used to describe the spatial pose of each module. The dual quaternion describes the position and pose information of each module before and after the reconstruction of the robot, which is more concise and unified in mathematical form than the homogeneous coordinate matrix, and it is convenient to obtain the information of the rotation state, the connection plane relation and the connection azimuth relation between the modules. Taking multiple modular robots as an example, the dual quaternion description method is used to analyze the spatial attitude and obstacle height of each module in the process of obstacle surmounting. Combined with motor selection and center of gravity position, the maximum height of the combination configuration is obtained. The simulation results verify the practicability of dual quaternion description method in analyzing the spatial pose of modular reconfigurable robot and the feasibility of the proposed combined obstacle crossing method.
【作者單位】： 天津理工大學(xué)機(jī)械工程學(xué)院天津市先進(jìn)機(jī)電系統(tǒng)設(shè)計(jì)與智能控制重點(diǎn)實(shí)驗(yàn)室;
【基金】：天津市自然科學(xué)基金(15JCYBJC19800) 天津市教委科研計(jì)劃項(xiàng)目(20140403)
【分類號(hào)】：TP242

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本文編號(hào)：2253391