摘要
为拓展六足机器人在农业领域的应用,将并联机构用于六足机器人的腿部结构,从而使其可以用于山地、林地、丘陵等环境的农业运输、种植、采摘等。首先,对六足机器人并联腿部机构进行了构型分析,选择2-UPS+UP机构作为腿部的初步机构原型;其次,依据螺旋理论,对2-UPS+UP机构进行了转动解耦性优化和变异,提出了一种转动解耦的UPR+UPS+UP机构;之后,通过对该机构进行运动学分析,建立了该机构位置逆解模型与速度映射方程;最后,对UPR+UPS+UP机构的工作空间进行了分析,绘制了工作空间三维图,通过分析设计参数对工作空间的影响,确定了一组性能较好的结构参数,该研究为并联腿部机构农业六足机器人的进一步研究提供了参考。
To apply the six-legged robot in the field of agriculture, the parallel mechanism was used in the mechanical leg of the six-legged robot. The six-legged walking robot could be used for transportation, cultivation, harvesting of agricultural fields in the mountains, woodlands, hills. The configuration of the six-legged robot was analyzed, and the 2-UPS＋UP parallel manipulator was selected as the initial configuration of the mechanical leg. The rotational decoupled optimization of 2-UPS＋UP parallel manipulator was done with screw theory, a rotational decoupled UPR^UPS＋UP parallel manipulator was proposed. Based on configuration analysis, kinematics position equations were formulated. Kinematics model of the parallel manipulator was discussed as a key. The inverse position analysis and velocity mapping equations were presented. The workspace of UPR＋UPS＋UP parallel manipulator was analyzed. Three-dimensional graphic of workspace was drawn. By analyzing the impact of the design parameters on the work space, a set of structural parameters with good performance were selected. These studies laid the theoretical foundation for further study of the six-legged agricultural robot.
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2012年第15期9-14,共6页
Transactions of the Chinese Society of Agricultural Engineering
基金
机械系统与振动国家重点实验室开放课题基金项目(No.MSV-2012-10)
秦皇岛市科技支撑计划项目(201101A028)
关键词
农业
机器人
运动学
并联腿部机构
工作空间
构型分析
agriculture, robots, kinematics, parallel leg mechanism, workspace, configuration analysis
作者简介
荣誉（1981-），男，汉，吉林通化人，燕山大学机械工程学院博士研究生，河北科技师范学院讲师，主要从事并联机器人理论及应用研究。秦皇岛燕山大学机械工程学院，066004。Email：lixiangcg@126．com
