基于3-RSR并联机构的蛇形机器人本体构型设计与运动性能研究

doi:10.3901/JME.2021.23.021

机械工程学报 ›› 2021, Vol. 57 ›› Issue (23): 21-33.doi: 10.3901/JME.2021.23.021

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基于3-RSR并联机构的蛇形机器人本体构型设计与运动性能研究

魏巍¹, 庄哲明¹, 唐昭¹, 戴建生^1,2

1. 天津大学机构理论与装备设计教育部重点实验室天津 300350;
2. 伦敦大学国王学院自然与机械工程系伦敦 WC2R 2LS 英国

收稿日期:2021-03-22 修回日期:2021-08-12 出版日期:2021-12-05 发布日期:2022-02-28
通讯作者: 戴建生(通信作者),男,1954年出生,教授,ASME与IMechE Fellow,ASME 2015年机构学与机器人学终身奖获得者。主要研究方向为旋量理论、抓举理论、Origami折纸机构、机构分析和研究、自动重组重构机构、串并联机器人机构理论、多指灵巧手在包装业、康复工程和服务机器人中的研究和应用。共主持和完成英国和欧盟科研项目50余项。发表论文400余篇。获得数项国际学术期刊与国际会议最佳论文奖、多项ASME与IEEE服务奖与卓越服务奖。E-mail:jiandai@kcl.ac.uk
作者简介:魏巍,男,1998年出生。主要研究方向为并联机构蛇形机器人设计。E-mail:weiwei_4129460@tju.edu.cn;庄哲明,男,1997年出生,硕士研究生。主要研究方向为并联机构蛇形机器人设计。E-mail:zhuangzheming@tju.edu.cn;唐昭,男,1991年出生,博士研究生。主要研究方向为可重构机构及分岔控制、腿式机器人。E-mail:zhaotang@tju.edu.cn
基金资助:
国家自然科学基金重点资助项目（51535008）。

Body Configuration Design and Kinematic Performance Research of Snake-like Robot Based on 3-RSR Parallel Mechanism

WEI Wei¹, ZHUANG Zheming¹, TANG Zhao¹, DAI Jiansheng^1,2

1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350;
2. School of Natural and Mathematical Sciences, King's College London, University of London, London WC2R 2LS, UK

Received:2021-03-22 Revised:2021-08-12 Online:2021-12-05 Published:2022-02-28

摘要/Abstract

摘要： 蛇形机器人作为仿生机器人的重要分支，身形柔软轻小，运动灵活多变，具备很强的环境适应能力，在军事侦察、地质勘探、灾难救援等领域拥有非常广阔的发展前景。创新性地将并联机构、折纸机构和柔性铰链相结合，设计出一种灵活度高、结构紧凑的模块化蛇形机器人单元，并从数学模型、旋量分析等角度进行合理论证。自主完成硬件电路搭建、控制算法编写，设计蛇形机器人控制系统实现多路直流减速电机协同，并进行仿蛇运动的步态规划。加工制作蛇形机器人样机并完成了特定环境下机器人性能测试。

关键词: 蛇形机器人, 并联机构, 旋量系分解, 步态规划

Abstract: As an important branch of bionic robot, snake-like robot has a soft and light body, flexible movement and strong environmental adaptability. It has a very broad development prospect in military reconnaissance, geological exploration, disaster rescue and other fields. A modular snake-like robot unit with high flexibility and compact structure is designed by innovatively combining parallel mechanism, origami mechanism and flexure hinge. The hardware circuit construction and control algorithm writing are completed independently. The control system of snake-like robot is designed to realize the cooperation of multiple DC deceleration motors, and the gait planning of snake-like motion is carried out. The prototype of snake-like robot is manufactured and the robot performance test in specific environment is completed.

Key words: snake-like robot, parallel mechanism, spinor system decomposition, gait planning

中图分类号:

TP24

魏巍, 庄哲明, 唐昭, 戴建生. 基于3-RSR并联机构的蛇形机器人本体构型设计与运动性能研究[J]. 机械工程学报, 2021, 57(23): 21-33.

WEI Wei, ZHUANG Zheming, TANG Zhao, DAI Jiansheng. Body Configuration Design and Kinematic Performance Research of Snake-like Robot Based on 3-RSR Parallel Mechanism[J]. Journal of Mechanical Engineering, 2021, 57(23): 21-33.

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基于3-RSR并联机构的蛇形机器人本体构型设计与运动性能研究

Body Configuration Design and Kinematic Performance Research of Snake-like Robot Based on 3-RSR Parallel Mechanism

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