摘要
建立了南极科考机器人双推杆肢腿机构运动学方程,分析了一级推杆独立驱动、二级推杆独立驱动、双推杆同步驱动三种典型运动工况时,上肢腿和下肢腿相对于X轴方向角度变化规律,下肢腿末端运动轨迹、速度和加速度运动特性曲线,对比数值模拟和试验结果表明:上肢腿和下肢腿相对于X轴方向角度呈先减小后增大的变化规律,其相关系数在0.95以上,平均相对误差在16.69%以内;下肢腿末端运动轨迹是连续二次函数曲线,其在X轴方向最大平均相对误差远小于Y轴方向;下肢腿末端速度的相关系数在0.90以上,平均相对误差在19.35%以内,且下肢腿在一级推杆驱动时末端速度为匀速运动,在二级推杆驱动时为变速运动,下肢腿末端加速度在推杆开始伸长和结束收缩时出现峰值,在其他时间段内趋于0值。
The kinematics equation of double push rod leg mechanism of Antarctic research robot is established,under three typical working conditions of the first pushrod independent drive,the secondary pushrod independent drive and double pushrod synchronous drive,the variation law of the Angle of upper limb leg and lower limb leg relative to the X-axis direction,the motion trajectory,velocity,and acceleration movement characteristics curves of lower limb end are analyzed. Numerical simulation and experimental results show that:the angles of the upper and lower limbs relative to the X-axis direction decreased first and then increased,and the correlation coefficient was above 0.95,and the average absolute relative error was less than 16.69%;the movement trajectory of the lower limbs is a continuous quadratic function curve,and the maximum average absolute relative error in the direction of the X-axis is far less than that in the direction of the Y-axis;the velocity of lower limb end correlation coefficient over 0.90,the average absolute relative error is within 19.35%,and the velocity of lower limb end is constant when the first pushrod independent drive,and it is variable velocity when the secondary pushrod independent drive. Acceleration of lower limb end at began elongation and contraction occur when peak,in other period tends to zero value.
作者
赵富强
吴红庆
杜鹏阳
牛志刚
ZHAO Fu-qiang;WU Hong-qing;DU Peng-yang;NIU Zhi-gang(Heavy Machinery Engineering Research Center of the Ministry of Education,Taiyuan University of Science and Technology,Shanxi Taiyuan 030024,China;1nstitute of Polar Engineering and Equipment,Taiyuan University of Technology,Shanxi Taiyuan 030024,China)
出处
《机械设计与制造》
北大核心
2022年第6期229-236,共8页
Machinery Design & Manufacture
基金
山西省自然科学基金重点项目201901D111009(ZD)。
关键词
双推杆肢腿机构
运动特性
数值模拟
试验结果
相关系数
平均相对误差
Double Push Rod Leg Mechanism
Movement Characteristics
Numerical Simulation
Experimental Results
The Correlation Coefficient
The Average Absolute Relative Error
