發(fā)布時間：2018-10-18 19:38

【摘要】：提出了一種可以同時實(shí)現(xiàn)邁步行走、有動力輪式機(jī)動、無動力輪旱冰式滑行3種運(yùn)動方式的輪腿混合四足軍用機(jī)器人,它采用一種基于3-UPS機(jī)構(gòu)的6自由度并聯(lián)機(jī)械腿,對并聯(lián)機(jī)械腿進(jìn)行了動力學(xué)建模與驅(qū)動參數(shù)峰值預(yù)估。通過矢量回路法推導(dǎo)出機(jī)械腿的機(jī)構(gòu)傳遞映射模型,并建立了機(jī)構(gòu)的雅可比矩陣;采用非保守系統(tǒng)的拉格朗日方程建立了機(jī)械腿的動力學(xué)模型,得到了驅(qū)動參數(shù)與機(jī)械腿的運(yùn)動函數(shù)之間的顯式方程。通過機(jī)械腿的動力學(xué)模型,對6個伺服電機(jī)的驅(qū)動轉(zhuǎn)速、力矩進(jìn)行了峰值預(yù)估分析,計算出各伺服電機(jī)中的最大理論轉(zhuǎn)速為19.7 r/s,最大理論力矩為71 m N·m.通過一個具體的機(jī)械腿設(shè)計方案和結(jié)構(gòu)參數(shù)算例,分析了機(jī)器人按照"1-2-3-4"循環(huán)步態(tài)邁步行走過程中,其6個伺服電機(jī)的瞬時轉(zhuǎn)速、瞬時力矩隨時間的變化規(guī)律曲線,并計算出此算例的伺服電機(jī)最大轉(zhuǎn)速為15.3 r/s,最大力矩為48.1 m N·m,均小于預(yù)估模型中的預(yù)估理論極限峰值,通過計算得出算例的伺服電機(jī)選型預(yù)估功率為77 W,算例結(jié)果證明了所建立的驅(qū)動參數(shù)峰值預(yù)估模型的合理性。
[Abstract]:A wheel-leg hybrid four-legged military robot, which can walk at the same time, has power wheeled maneuvering, and skidded with no power roller ice, is proposed. It adopts a 6-DOF parallel mechanical leg based on 3-UPS mechanism. The dynamic modeling and the peak value prediction of the driving parameters of the parallel mechanical leg are carried out. The mechanism transfer mapping model of mechanical leg is derived by vector loop method, and the Jacobian matrix of mechanism is established, and the dynamic model of mechanical leg is established by using Lagrange equation of non-conservative system. The explicit equation between the driving parameters and the motion function of the mechanical leg is obtained. Based on the dynamic model of mechanical leg, the peak value of driving speed and torque of 6 servomotors are predicted and analyzed. The maximum theoretical rotational speed of each servo motor is 19. 7 r / s and the maximum theoretical torque is 71 m N m.. Based on a concrete design scheme of mechanical leg and an example of structural parameters, the curve of instantaneous speed and moment with time of 6 servomotors in the course of walking according to "1-2-3-4" cyclic gait is analyzed. The maximum speed and torque of the servo motor are 15. 3 r / s, 48. 1 m N m, and 48. 1 m N m, respectively. The estimated power of servo motor selection is 77 W by calculation, and the result of example proves the rationality of the established peak value prediction model of driving parameters.
【作者單位】： 燕山大學(xué)河北省并聯(lián)機(jī)器人與機(jī)電系統(tǒng)實(shí)驗(yàn)室;河北科技師范學(xué)院城市建設(shè)學(xué)院;燕山大學(xué)先進(jìn)鍛壓成形技術(shù)與科學(xué)教育部重點(diǎn)實(shí)驗(yàn)室;
【基金】：國家科技支撐計劃項目(2015BAI06B01) 河北省高等學(xué)校科學(xué)技術(shù)研究青年基金項目(QN2015185) 河北科技師范學(xué)院博士啟動基金項目(2015YB004)
【分類號】：TP242

【相似文獻(xiàn)】

相關(guān)期刊論文 前3條

1 王顯偉;FCC分餾塔產(chǎn)品質(zhì)量預(yù)估模型開發(fā)及應(yīng)用[J];石油化工自動化;1999年05期

2 張巖;邵富群;吳鯤魁;王軍生;;基于無模型自適應(yīng)控制的鋅層厚度預(yù)估模型[J];系統(tǒng)仿真學(xué)報;2013年05期

3 馮斌,須文波;基于回歸支撐矢量機(jī)的生化變量預(yù)估模型[J];計算機(jī)工程與應(yīng)用;2004年36期

，

本文編號：2280163