蛇形机器人动力学建模的虚设机构法

基于应用影响系数和虚功原理,通过虚设动力机构提出一种蛇形机器人动力学建模方法,导出考虑骨节侧向滑动条件下的蛇形机器人二阶非完整约束方程.应用这种方法无需进行繁琐的求导或消元运算,可直接基于所给公式编程进行蛇形机器人正逆双向动力学仿真,从而为研究蛇形机器人的动力耦合特征和开发具有二阶非完整约束的蛇形机器人的运动控制器,提供一种实用有效的方法.该方法不仅适于平面运动蛇形机器人,还可进一步推广实现空间运动的蛇形机器人的动力学建模与仿真.

NOMINAL MECHANISM METHOD OF DYNAMIC MODELING FOR SNAKE-LIKE ROBOTS

Based on the influence coefficient and virtual work principles,by adding a nominal mechanism to the snake-like robot body,a novel method of dynamic modeling for snake-like robots is presented.And the second order nonholonomic con- stralnt equation of snake-like robots is also established under considering side slides of the condyles.With the expressions given,researches can directly develop imitation programs of the forward and inverse dynamics without complicated derivative or eliminating operations.An effective method is given for analyzing the characteristics of dynamic coupling of snake-like robots and developing the motion controller for snake-like ro- bots with the second order nonholonomic constraints equations. The method is not only available for the planar motion of snake=like robots,but also can be extended to analyze the dy- namic modeling and imitation of snake-like robots with spatial mechanism joints.