• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (7): 69-75.doi: 10.3901/JME.2017.07.069

• 机构学及机器人 • 上一篇    下一篇

闭链弓形五连杆越障能力分析与运动规划*

余联庆1, 枚元元1, 李琳1, 王玉金2, 吴昌林2   

  1. 1. 武汉纺织大学机械工程与自动化学院 武汉 430073;
    2. 华中科技大学机械科学与工程学院 武汉 430074
  • 出版日期:2017-04-05 发布日期:2017-04-05
  • 作者简介:

    余联庆,男,1972年出生,博士,教授。主要研究方向为机器人机构学、移动机器人规划与控制。

    E-mail:yulq@wtu.edu.cn

  • 基金资助:
    * 国家自然科学基金资助项目(51275363); 20160119收到初稿,20161021收到修改稿;

Capability Analysis and Motion Planning for Obstacle Negotiation of a Closed Five-bow-shaped-bar Linkage

YU Lianqing1, MEI Yuanyuan1, LI Lin1, WANG Yujin2, WU Changlin2   

  1. 1. School of Mechanical Engineering and Automation, Wuhan Textile University, Wuhan 430073;
    2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074
  • Online:2017-04-05 Published:2017-04-05

摘要:

为了考察闭链弓形五连杆的地形适应性,分析其越障能力并对越障过程进行运动规划。建立闭链弓形五连杆质心运动学分析模型,利用齐次变换推导了杆系质心坐标关于接触角和主动关节角的表达式。通过分析越障过程中的运动约束和几何约束,建立最大越障高度的数学模型,利用数值算法获得了最大越障高度随接触角和关节圆半径的变化曲线。根据质心可行域边界曲线内凹的特点,依照行程最短策略采用切线法来规划越障过程中系统质心运动路径,进而利用运动学逆解得到主动关节轨迹。通过样机试验验证了分析结果的正确性。

关键词: 闭链弓形五连杆, 运动规划, 质心, 越障能力

Abstract:

To investigate the terrain adaptability of a closed five-bow-shaped-bar linkage, capability and motion planning for obstacle negotiation are investigated. The mass center expression of the linkage about the contact angle and the active joints is deduced by homogeneous transformation through the establishment of kinematics analytical model for the closed five-bow-shaped-bar linkage. The mathematic model for maximum height of obstacles negotiation is extracted out under the condition of kinematics and geometric constraints in the process of obstacles negotiation. And also, the maximum height along with the contact angle and the radius of joint circular is figured out by using numerical algorithm. Once more, according to the concave characteristic of feasible region of the mass center, the move path for the center of mass is planned by tangent method in accordance with the shortest route strategy. Then, the trajectories of active joints are obtained by means of inverse kinematics. The correctness of the analysis is verified by experiment in a prototype finally.

Key words: center of mass, closed five-bow-shaped-bar linkage, motion planning, obstacle negotiation capability