本文選題：越障能力　切入點：運動規(guī)劃　出處：《機械工程學報》2017年07期 　論文類型：期刊論文

【摘要】：為了考察閉鏈弓形五連桿的地形適應性,分析其越障能力并對越障過程進行運動規(guī)劃。建立閉鏈弓形五連桿質心運動學分析模型,利用齊次變換推導了桿系質心坐標關于接觸角和主動關節(jié)角的表達式。通過分析越障過程中的運動約束和幾何約束,建立最大越障高度的數學模型,利用數值算法獲得了最大越障高度隨接觸角和關節(jié)圓半徑的變化曲線。根據質心可行域邊界曲線內凹的特點,依照行程最短策略采用切線法來規(guī)劃越障過程中系統(tǒng)質心運動路徑,進而利用運動學逆解得到主動關節(jié)軌跡。通過樣機試驗驗證了分析結果的正確性。
[Abstract]:In order to investigate the terrain adaptability of the closed chain arched five-bar, analyze its ability of surmounting obstacles and plan the motion of the obstacle surmounting process, a kinematic analysis model of the mass center of the closed chain arched five-bar is established. By using homogeneous transformation, the expressions of contact angle and active joint angle in the coordinate of the center of mass of the bar system are derived. By analyzing the motion and geometry constraints in the process of obstacle surmounting, the mathematical model of the maximum obstacle height is established. The curve of maximum obstacle height with contact angle and radius of joint circle is obtained by numerical method. According to the concave characteristic of boundary curve in the feasible region of centroid of mass, According to the shortest stroke strategy, the tangent method is used to plan the motion path of the center of mass in the process of obstacle crossing, and then the kinematics inverse solution is used to obtain the trajectory of the active joint. The correctness of the analysis results is verified by the prototype test.
【作者單位】： 武漢紡織大學機械工程與自動化學院;華中科技大學機械科學與工程學院;
【基金】：國家自然科學基金資助項目(51275363)
【分類號】：TP242

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本文編號：1570256