自重构机器人变形过程运动学分析及越障仿真

自重构机器人根据任务环境的不同可实现自主变换构型。研究了直线蛇形变换为环形的重构过程,定义了单元模块的连接面与坐标变换矩阵,基于D-H方法推导并归纳了多模块由直线蛇形变换为环形的普适公式。利用多体动力学软件RecurDyn与MATLAB对模块构型变换中末端连接面的运动轨迹、速度以及加速度进行了仿真,验证了普适公式的有效性和正确性,准确地判断了末端连接面运动轨迹的变化与重构工作空间,估计了系统的稳定性,提高了对控制算法的认知程度。最后分析了环形构型的两种滚动步态,利用仿真验证了环形构型的越障能力。

Kinematics Analysis of Self-reconfigurable Robot during Deformation Process and Simulation of Obstacle Climbing

Self-reconfigurable robot could change its configuration depending on the task environments. This paper discussed the transforming process of snake-like configuration changing into circular configuration, defined the junction surface of modular units and coordinate transform matrix, and got the universal formula based on the D-H method. Then The motion trail,velocity and acceleration during the transformation were simulated by RecurDyn and MATLAB. With the result, the correctness and the validity of the universal formula were proved; trajectory modification and reconfiguration space were judged; the stability of the robotic system was estimated; the awareness level of control algorithm was improved. Finally, two kinds of ring rolling gait were analyzed, and through the simulation, the ability of obstacle climbing was proved.