伤员转运机器人自平衡机构的动力学分析

为了提高复杂灾变环境中伤员的救援效率和成功率,提出一种具有3R1T的4-UPS/PS并联机构作为转运机器人的自平衡系统,利用螺旋理论对自由度进行分析,并利用修正的G-K公式检验。采用封闭矢量法求解各驱动杆杆长与动平台位姿间的关系。推导了自平衡补偿机构的动能表达式、势能表达式,利用拉格朗日法建立了自平衡补偿器的动力学模型,通过Adams仿真软件对自平衡过程进行仿真分析运动性以及驱动力。实验结果表明,机构运动性能优越,驱动性能良好,具有很强的可控性和稳定性,适用于救援转运机器人的自平衡系统。

Dynamics Analysis of Self-balancing Mechanism for Wounded-transfer Robot

In order to improve the efficiency and success rate of rescuing the wounded in the complex and catastrophic environment,a novel 4-UPS/PS parallel mechanism with 3R1T is proposed,which can be used in self-balancing system of the transfer robot.The degree of freedom is analyzed by using screw theory and tested by the modified G-K formula.By utilizing the closed vector,the solution to the inverse kinematics and the rela tion between the length of each driving rod and the posture of the moving platform are obtained.The expressions of kinetic energy and potential energy of self-balancing compensating mechanism are deduced.The dynamic model of self-balancing compensator is established by Lagrange method.The kinematics and driving force of self-balancing process are simulated and analyzed by Adams simulation software.The experimental results show that the mechanism has excellent motion performance,good drive performance,strong controllability and stabili ty,which is suitable for the rescue and transport robots.