• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 26 ›› Issue (7): 44-51.doi: 10.3901/JME.2020.07.044

• 机器人及机构学 • 上一篇    下一篇

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单自由度八面体概率滚动机器人

关永瀚, 姚燕安, 刘超   

  1. 北京交通大学机械与电子控制工程学院 北京 100044
  • 收稿日期:2019-04-22 修回日期:2019-08-22 出版日期:2020-04-05 发布日期:2020-05-12
  • 作者简介:关永瀚,男,1988年出生,博士研究生。主要研究方向为机构与机器人学。E-mail:11116328@bjtu.edu.cn;
    姚燕安,男,1972年出生,教授,博士研究生导师。主要研究方向为机构与机器人学。E-mail:yayao@bjtu.edu.cn;
    刘超(通信作者),女,1979年出生,副教授。主要研究方向为机构与机器人学。E-mail:lclc@bjtu.edu.cn
  • 基金资助:
    中央高校基本科研业务费专项资金资助项目(2019JBM046)。

Single-DOF Octahedron Robot with Probable Rolling

GUAN Yonghan, YAO Yanan, LIU Chao   

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044
  • Received:2019-04-22 Revised:2019-08-22 Online:2020-04-05 Published:2020-05-12

摘要: 提出一种由10个连杆,12个转动副构成具有八面体几何形态的单自由度概率滚动机器人,利用单自由度缩放变形实现定向前进步态和概率转向步态交替进行的翻滚运动。运用螺旋理论计算自由度,进行运动学分析和运动可行性分析,讨论了稳定性和翻滚条件,建立动力学模型进行仿真。在进行定向前进步态时机器人的移动方向是确定的;在进行概率转向步态时机器人有三个可能的移动方向,这个随机过程在理想条件下符合概率为1/3的拉普拉斯试验。机器人的移动路径为正交网格结点连线,可以实现遍历运动,提出了运动控制算法并进行运动仿真。制作一台原理样机进行运动试验,验证了前进和转向功能。

关键词: 滚动机器人, 单自由度, 八面体, 概率运动

Abstract: A single degrees-of-freedom (DOF) robot with probable rolling is proposed, which is constructed by the geometric configuration of octahedron. The robot consists of 10 links, 12 revolute joints. It can realize rolling with alternate two types of gaits which are directional forward rolling gait and probable turning gait by single DOF scaling deformation. The DOF is calculated by using the screw theory. The stability and the tumbling condition are discussed by the kinematics and motion feasibility analysis. The dynamics model is built and simulated. In the directional forward rolling gait, the orientation of rolling is definite. In the probable turning gait, there are three possible turning orientations. This stochastic process accords with Laplace test under ideal condition with probability of 1/3. The moving path is the connection of orthogonal grid nodes, and the ergodic motion can be realized. A control method is proposed and the motion simulation is carried out. A prototype is manufactured, the forward rolling and turning function is verified through the experiment of motion.

Key words: rolling robot, single DOF, octahedron, probable motion

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