轮腿混合移动机器人机构设计及分析

设计了一种新型的从动轮式轮腿混合移动机器人,该机器人可以自动切换为步行和轮滑方式,具有良好的地面适应能力,同时具有小腿运动解耦和步行时脚轮对复杂路况自适应等特点。阐述了机器人的结构和工作原理,并通过实验验证了所设计的机器人可行。运行良好。     

腿轮式机器人的运动原理及参数优化

分析了一种腿轮式机器人的运动原理，基于腿轮式机器人的运动参数对机器人的运行性能有较大影响，提出采用遗传算法进行参数优化设计。给出了遗传算法的具体寻优步骤，并得到了最优解，为机器人的机构设计和运动控制提供了理论依据。     

并联机器人运动学传动性能研究

研究了一般形式的并联机器人速度输入输出方程系数矩阵的奇异值、灵活性、奇异位形和工作空间之间的关系，以三自由度并联机器人为例，通过仿真给出机器人灵活性最差、位于第一种奇异位形，位于第二种奇异位形和位于各向同性位形的具体实例，得出在结构尺寸对称条件下存在各向同性的位姿及必要条件。     

一种三平移并联机器人的仿真研究

基于螺旋理论,分析3-RCR并联机器人的机构构型,得到该并联机器人的自由度。用三维建模软件ProE对该并联机器人进行建模,将机构模型导入到Adams中,基于Adams的虚拟仿真技术,验证机构的自由度,当该并联机器人动平台输出分别为圆轨迹和正方形轨迹时,对其进行运动学的仿真分析,分别得到驱动杆Part4、Part6、Part8的角速度、角加速度的变化规律,为3-RCR并联机器人后续的应用和研究提供了重要的参考。     

Practical control of a rescue robot while maneuvering on uneven terrain

This paper presents the maneuvering stabilization method for the rescue robot. In general, the stability index such as center of mass (CoM), zero moment point (ZMP), moment height stability (MHS), and force angle (FA) measure during maneuvering can be used for the mobile manipulator. Among these stability indices, the appropriate stability index can be determined according to the target application. In this paper, the new rescue robot is introduced to accomplish various missions including the rescue and maneuver with a wounded person. The CoM as the stability index is determined due to relatively low closed-loop bandwidth of the tracked lower body for the rescue robot. Therefore, the maneuvering stability can be practically obtained by using the CoM tracking control method. Furthermore, the position-based motion control method using the closed-loop inverse kinematics (CLIK) algorithm is used for the HURCULES. To verify the effectiveness of the CoM tracking controller using the CLIK method, the experiments were conducted on a longitudinal slope and uneven terrain. Satisfactory performance of the maneuvering stabilization was obtained from the experimental results.     

Design of a terrain tentative sensing machine/sensor for a mobile robot

TTSMS is a typical four-link terrain tentative sensing machine/sensor. It can sense some parameters of the front terrain for mobile robots and simply process the sensing data to obtain a simple model of the terrain, and then instruct the robot to operate accurately in the uncertain terrain. The TTSMS features a simple structure and the capability of sensing a convexity-terrain. The principle of the TTSMS, its mechanical structure, the adoption of its parameters and the terrain-restriction condition of TTSMS are introduced in this paper. The TTSMS resolved the key problem of sensing obstacles in real time for mobile robots moving in a three-dimensional terrain environment .     

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Frontiers of Mechanical Engineering - As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP)...     

BP神经网络补偿并联机器人定位误差

为减小机构末端定位误差,提高机器人运动精度,分析了所开发的6-DOF精密并联机器人末端位姿的误差来源及以往误差补偿方法的局限性。通过实际测量末端位姿,在精密定位的局部工作空间内,提出了基于BP神经网络的机器人关节空间误差补偿方法。确定了BP神经网络模型,建立了误差补偿的数据样本,并对数据样本进行了标准化,通过实验对比的方法确定了隐层神经元的个数,同时对网络的推广能力进行了验证。经过误差补偿,6-DOF精密并联机器人的平移定位误差下降了80%,转角定位误差下降了60%。该实验结果表明,基于BP神经网络的误差补偿方法对机器人局部工作空间的补偿具有明显的效果,满足精密并联机器人工作的精度要求。     

一种新型并联机器人工作空间分析

对一种新型并联机器人的工作空间问题作了讨论,基于运动学逆解,通过极限边界数值搜索算法求取了并联机器人工作空间,并通过MATLAB仿真得到了该并联机器人工作空间的实体模型.     

Nonlinear robust control design for a 6 DOF parallel robot

A class of robust tracking controllers for a 6 DOF parallel robot in the presence of nonlinearites and uncertainties are proposed. The controls are based on Lyapunov approach and guarantees practical stability. The controls utilize the information of link displacements and its velocities rather than using the positions or angles of the 6 DOF platform. This can be done by constructing the linkspace coordinates and the workspace coordinates simultaneously by imposing geometric constraints. The controls utilize the possible bound of uncertainty, and the uniform ultimate ball size can be adjusted by a suitable choice of control parameters. The control performance of the proposed algorithms is verified through experiments.     

Surface location error of a parallel robot for routing processes

This paper deals with the static characterisation of a parallel manipulator for routing processes. Since accuracy and surface finishing are critical in all machining processes, the performance of a parallel machine is analysed in this paper in terms of these parameters. Using a previously developed static analysis methodology, the stiffness of the machine structure is obtained and used as an input for a process model. This approach allows the static behaviour of the machine to be evaluated in terms of the surface location error for a given routing operation in the manipulator workspace. The study focusses on certain discrete points in the operational workspace for each direction of the tool feed. Then, the global behaviour of the machine is presented using surface location maps. Furthermore, some static constraints are imposed to obtain the static workspace of the manipulator for the routing process.     

具有并联关节的两足步行机器人运动学反解分析

分析了人体腿部关节的运动特点,提出了一种3自由度3-RRR并联机构作为髋关节,2自由度球面机构Ur作为踝关节,转动副R作为膝关节的新型两足步行器;对两个并联关节的位置反解进行了研究;采用解析方法对步行机器人的位置反解进行了分析,得出反解的解析表达式,最后用实例验证了求解过程.该研究对机器人步态规划、动力学分析及控制的研究有重要意义.     

基于虚拟样机技术的并联机器人设计研究

并联机器人的结构复杂、制造成本高、生产周期长,因而其物理样机的优化以经验为主.提出基于ADAMS的虚拟样机优化方法,并以3RPS机器人为例,运用虚拟样机模型分析了该机器人结构参数变化对该机器人动平台转动角度的影响,并得到了动平台转动角度最大时的最优结构参数.     

一种混合型三维移动并联机构静力学计算

对一种混合三维移动并联机器人进行静力学计算,并给出雅克比矩阵及其逆,为该三自由度并联平动机器人的进一步研究和实用化提供借鉴。     

基于并行计算的可调节型6-SPS并联机器人运动学和动力学分析

利用一种矩阵的广义标量积,导出6-SPS并联机器人动平台和驱动腿的速度及加速度显式表达式,并运用虚功原理和达朗伯原理建立了动力学模型。根据其计算特点,构造动力学并行算法,减少在线计算量和时间,为机构的实时控制提供有利条件。还对其作为可调节型机构,研究了平台半径和构件质量对驱动力的影响。给出的仿真实例证明此方法的有效性。     

Dynamically adapt to uneven terrain walking control for humanoid robot

Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unkn...     

Optimal cascade hydraulic control for a parallel robot platform by PSO

A new cascade load force control design for a parallel robot platform is proposed. A parameter search for a proposed cascade controller is difficult because there is no methodology to set the parameters and the search space is broad. A parameter search based on particle swarm optimization (PSO) is suggested to effectively search the parameters of the cascade controller. We used a unified mathematical model of a hydraulic actuator of parallel robot platform. These equations are readily applicable to various types of proportional valves, and they unify the cases of critical center, overlapped, and underlapped valves. These unified model equations are useful for nonlinear controller design. Simulation results show the advantages of the proposed optimal tuned cascade controller to solve the formulated tracking problem in relation to the classical proportional–integral (PI) controller.     

用于集装箱吊装的绳牵引并联起重机器人的机械结构设计

考虑到绳牵引并联机器人具有串联机器人及杆支撑机器人所不具有的优势,并结合目前机器人研究的热点和发展趋势,提出可用来替代轨道吊的用于集装箱吊装的绳牵引并联起重机器人,并针对振华公司的一种轨道吊产品参数,对绳牵引并联起重机器人进行机构设计和详细的结构设计.     

新型6-PSS并联机器人的位姿误差分析

在获得6-PSS并联机构位置反解的基础上,考虑杆长、铰链位置、铰链间隙等各类主要误差源对终端误差的影响,推导出此新型机构的位姿误差模型,且应用蒙特卡洛技术分析了位姿误差的分布规律,为这种机器人的理论设计与精度补偿提供了理论基础。     

3-RSR并联机器人动力学研究

该文利用雅可比矩阵建立了3-RSR并联机器人动平台惯性力、惯性力矩和重力到驱动关节的映射关系，在合理的假设基础上，运用牛顿欧拉动力学方程得到了比较精确的动力学模型。再用拉格朗日方程建立动力学模型并和前者比较，在同样假设情况下，给出数值实例，两个模型的计算结果完全一致。牛顿欧拉法比拉格朗日法减少了大量的计算，但动力学模型仍保持3-RSR并联机器人的动力学特征，用牛顿欧拉方程建立的模型作为驱动力矩控制设计的基础是可行的。