【摘要】：針對一種具有獨立運動自由度的新型模塊化可重構(gòu)機器人,利用對偶四元數(shù)描述其各個模塊空間位姿.對偶四元描述機器人重構(gòu)前后的各模塊位姿信息,相對齊次坐標(biāo)矩陣在數(shù)學(xué)形式上更為簡潔統(tǒng)一,方便獲取模塊之間轉(zhuǎn)角狀態(tài)、連接面關(guān)系及連接方位關(guān)系等信息.以多個模塊機器人攀越臺階障礙為例,應(yīng)用對偶四元數(shù)描述方法分析該機器人越障過程中各模塊空間姿態(tài)、越障高度,結(jié)合電機選型與重心位置得出該組合構(gòu)型越障的最大高度.仿真實驗驗證了對偶四元數(shù)描述方法在分析模塊化可重構(gòu)機器人空間位姿中的實用性與所提出的組合越障方法的可行性.
[Abstract]:For a new modular reconfigurable robot with independent kinematic degrees of freedom, the dual quaternion is used to describe the spatial pose of each module. The dual quaternion describes the position and pose information of each module before and after the reconstruction of the robot, which is more concise and unified in mathematical form than the homogeneous coordinate matrix, and it is convenient to obtain the information of the rotation state, the connection plane relation and the connection azimuth relation between the modules. Taking multiple modular robots as an example, the dual quaternion description method is used to analyze the spatial attitude and obstacle height of each module in the process of obstacle surmounting. Combined with motor selection and center of gravity position, the maximum height of the combination configuration is obtained. The simulation results verify the practicability of dual quaternion description method in analyzing the spatial pose of modular reconfigurable robot and the feasibility of the proposed combined obstacle crossing method.
【作者單位】： 天津理工大學(xué)機械工程學(xué)院天津市先進(jìn)機電系統(tǒng)設(shè)計與智能控制重點實驗室;
【基金】：天津市自然科學(xué)基金(15JCYBJC19800) 天津市教委科研計劃項目(20140403)
【分類號】：TP242

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本文編號：2253391