冗余驱动全R副四面体移动机器人

doi:10.3901/JME.2019.03.018

机械工程学报 ›› 2019, Vol. 55 ›› Issue (3): 18-26.doi: 10.3901/JME.2019.03.018

冗余驱动全R副四面体移动机器人

王志瑞, 姚燕安, 张迪, 刘洋, 张林

北京交通大学机械与电子控制工程学院北京 100044

收稿日期:2018-02-04 修回日期:2018-09-21 出版日期:2019-02-05 发布日期:2019-02-05
通讯作者: 姚燕安(通信作者),男,1972年出生,博士,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
作者简介:王志瑞,男,1990年出生,博士研究生。主要研究方向为机构与机器人学。E-mail:14116358@bjtu.edu.cn;张迪,男,1993年出生,硕士研究生。主要研究方向为机构与机器人学。E-mail:16121308@bjtu.edu.cn;刘洋,男,1994年出生,博士研究生。主要研究方向为机构与机器人学。E-mail:16116359@bjtu.edu.cn
基金资助:
国家自然科学基金重点资助项目（51735009）。

Redundantly Actuated Tetrahedron Mobile Robot Structured by Pure Revolute Joints

WANG Zhirui, YAO Yanan, ZHANG Di, LIU Yang, ZHANG Lin

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044

Received:2018-02-04 Revised:2018-09-21 Online:2019-02-05 Published:2019-02-05

摘要/Abstract

摘要： 提出一种由全转动副（R副）构成的冗余驱动四面体移动机器人。该机器人主体由六条RRR支链以及四个顶点构件构成，安装有六台舵机，为一种整体呈现正四面体外形的四自由度冗余驱动机器人。应用螺旋理论对四面体机器人进行自由度分析。根据自由度分析规划了机器人的翻滚步态，以该步态机器人可以实现连续运动且正三角形运动轨迹可以覆盖任意目标点。建立机器人的运动模型进行运动学分析，得到了实现翻滚步态的临界条件。建立仿真模型对翻滚步态及其临界条件进行了验证。制作一台样机，验证了该四面体机器人方案设计以及运动规划的可行性，实现了预期的运动效果。结果表明，全转动副设计可提高四面体机器人实用性，且少自由度冗余驱动设计可增加机器人系统可靠性。

关键词: 翻滚步态, 全转动副, 冗余驱动, 四面体机器人

Abstract: A kind of redundantly actuated tetrahedral mobile robot structured by pure revolute joints is proposed. The robot formed a tetrahedral structure with six RRR chains and four vertices and redundantly actuated by six actuators. The degree-of-freedom (DOF) of the robot is analyzed by using screw theory. Based on the DOF analysis, a kind of rolling locomotion is proposed and the robot can reach any target on the ground with the rolling locomotion. The critical condition that the robot can complete the rolling locomotion is obtained by analyzing the kinematics of the mechanism. The rolling locomotion and the critical condition are testified using a simulation model. A prototype is manufactured and a series of experiments are performed to verify the feasibility of the design and motion planning. The result shows that the pure revolute joint design can improve the practicability of the robot, and the redundantly actuation is beneficial to the reliability.

Key words: pure revolute joint, redundantly actuated, rolling locomotion, tetrahedral mobile robot

中图分类号:

TH122
TP242

王志瑞, 姚燕安, 张迪, 刘洋, 张林. 冗余驱动全R副四面体移动机器人[J]. 机械工程学报, 2019, 55(3): 18-26.

WANG Zhirui, YAO Yanan, ZHANG Di, LIU Yang, ZHANG Lin. Redundantly Actuated Tetrahedron Mobile Robot Structured by Pure Revolute Joints[J]. Journal of Mechanical Engineering, 2019, 55(3): 18-26.

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冗余驱动全R副四面体移动机器人

Redundantly Actuated Tetrahedron Mobile Robot Structured by Pure Revolute Joints

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