六足仿生机器人并联机构雅可比矩阵分析

六足仿生机器人每条腿具有3个转动关节,当三角步态行走时,机体为3-UrRS并联机构。利用螺旋理论和互易积理论分析3条支链对上平台运动产生的约束作用,分析了该机构自由度。在不同的驱动形式下固定驱动关节,分析各支链作用在上平台的约束线簇,建立并联机构的雅克比矩阵。利用ADAMS仿真验证了所求雅可比矩阵的正确性。雅可比矩阵分析对于六足仿生机器人进行可达空间分析、机构尺度综合、路径规划和协调控制都具有重要意义。

Jacobian Matrix Analysis of Bionic Hexapod Robot Parallel Mechanism

The each leg of bionic hexapod robot has three rotating joints. The torso is a 3-UrRS parallel mechanism in tripod gait. The constraint of three chains on the movement of upper platform was analyzed through the screws theory and the orthogonal product. The Degree of Freedom (DOF) of mechanism was analyzed. Actuate joints were fixed in different actuator dispositions, the constraint lines on platform acted by each branch chain were analyzed, and the Jacobian matrix of parallel mechanism was established. The Jacobian matrix simulation and verification were carried on by ADAMS. Jacobian matrix analysis of the mechanism is of important significance to analysis of achievable space, synthesis of the mechanism dimension, path planning and coordinate control.