摘要
可重构模块化机器人系统具有单元模块种类多、结构复杂且构型种类多样等特点,由于每次重构其动力学方程随构型变化而发生改变,使得传统建模方法不适合直接应用到其建模过程中。针对这一问题,文章提出一种具有模块化思想的动力学模型自动生成方法。首先根据各模块的特点采用旋量理论建立单元模块运动学、动力学模型,然后利用层序列数组(Layer Sequence Array)对系统拓扑结构及构型信息进行表达,确定各模块之间的相互作用关系,并结合牛顿-欧拉公式给出了可重构机器人动力学自动生成算法。最后通过仿真计算验证建模方法的可行性和有效性。
The modular reconfigurable robot system is characterized by multiple of modular and relatively complex architecture of the module. Modules of the robot system can be combined to form various forms of group configuration. Conventional methods used to model the dynamics of modular robots are not suitable because of the dynamics changing with the configuration. To solve this problem, a modular modeling approach is presented to obtain the general dynamics of group configuration automatic. By using the screw theory, the dynamics of single module is derived, then the layer sequence array is adopted to describe the topological structure informaion and the interactions between modules, and the algorithm of automatic generation of motion equations is also given by program based on Newton Euler formula. An example is provided to illustrate the validity of the dynamics equations and simulation process.
出处
《机械设计与制造》
北大核心
2017年第4期245-249,共5页
Machinery Design & Manufacture
基金
天津市自然科学基金项目(15JCYBJC19800)
天津市自然科学基金项目(14JCYBJC19400)
天津市教委科研计划项目(20140403)
