摘要
平衡摇臂悬架主要应用于移动机器人中用以提高其地形适应能力和运动稳定性,差动平衡机构是平衡摇臂悬架的重要组成部分,齿轮式和连杆式是其中应用较为广泛的两类,其中连杆式由于不占用机身内部空间、便于拆卸的特点,独具优势.现有连杆式差动平衡机构多源于空间RSSR机构,存在构型单一、布置不合理、机构运动特征描述模糊的问题.针对上述问题,总结了连杆式差动平衡机构的运动特征,概括了其实现运动功能的基本条件,将机构的构型综合简化为对单侧单自由度单环机构的综合.利用螺旋理论,分析了机构运动螺旋与约束螺旋间满足的几何关系,并根据机构公共约束数量及类型的不同对仅含有R副的机构进行构型综合.面向实际应用场景,从结构复杂度、布置方式对机器人运动的影响程度以及制造和装配难度等方面比较分析,进行构型优选.对典型的RxRxURzRz机构进行运动学建模,分析得到机构的位置正逆解并讨论了机构的奇异位型.以机构的运动/力传递性能为评价指标,利用螺旋理论建立机构的运动学性能评价模型,对机构的尺度参数进行优化设计.建立基于连杆式差动平衡机构的移动机器人虚拟样机模型,利用ADAMS对其在复杂非对称地形的运动进行仿真分析,结果显示移动机器人具有良好的地形适应能力和运动稳定性,验证了机构功能的有效性.
Mobile robots with balance rocker suspension have better terrain adaptability and motion stability.A crucial part of the balance rocker suspension is the differential balance mechanism.The two most common types of mecha-nisms are gear and linkage.Out of them,the linkage mechanism has the unique advantage of taking up no internal space and being easy to disassemble.The majority of the existing linkage differential balance mechanisms arederived from the spatial RSSR mechanism,which has the problems of single configuration,inappropriate layout,and an imprecise description of mechanism motion characteristics.To solve the aforementioned problems,the motion char-acteristics of the mechanism were summarized,basic conditions to realize its motion function were generalized,and the type synthesis of the mechanism was simplified to the synthesis of one degree-of-freedom mechanism with a single loop.Based on the screw theory,the geometric relationship between the motion screw and constraint screw of the mechanism was analyzed,and the mechanisms with only revolute joints were synthesized according to the varying number and types of common constraints.Faced with a practical application scenario,the configuration optimization was performed in terms of structural complexity,influence degree of mechanism layout on robot motion,and manu-facturing and assembling difficulty.The kinematics model of the selected RxRxURzRz mechanism was established,the forward and inverse position solutions were analyzed,and the unique position of the mechanism was discussed.Us-ing the motion/force transmission performance of the mechanism as the evaluation index,the kinematic performance evaluation model of the mechanism was established based on screw theory,and the scale parameters of the mecha-nism were optimized.A virtual prototype model of a mobile robot was established based on the linkage differential balance mechanism,and its motion in a complex terrain environment was simulated using the ADAMS software.The results demonstrate that the mobile r
作者
宋轶民
杨志岳
岳维亮
霍欣明
孙涛
连宾宾
Song Yimin;Yang Zhiyue;Yue Weiliang;Huo Xinming;Sun Tao;Lian Binbin(Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300354,China;Department of Mechanical Engineering,Tianjin Renai College,Tianjin 301636,China;Tianjin Creative Robot Technology Company Limited,Tianjin 300300,China)
出处
《天津大学学报（自然科学与工程技术版）》
EI
CAS
CSCD
北大核心
2022年第11期1120-1129,共10页
Journal of Tianjin University：Science and Technology
基金
天津市重点研发计划科技支撑重点资助项目(18YFZCSF00590)。
