科研之友
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摘要
The whole machine configuration design and kinematics model of hexapod robot are foundation of robot prototype development and behavior control. GF set theory is adopted to illustrate that essence of whole machine configuration design of hexapod robot is to solve layout problem of mechanical legs on body platform, and five types of whole machine configurations are given based on bionics principle. A kind of parallel-driven leg mechanism with three degree of freedom is introduced, and kinematics model of whole machine of hexapod robot based on this leg mechanism is established with method of close-loop vector chain and derivation. Kinematics theory and simulation example of whole machine of hexapod robot are respectively given, and fitting pictures of theory values and simulation values for speed and accelerated speed are derived. Fitting results indicate that maximum error orders of theory angular speed and angular accelerated speed with those of simulated are respectively 10-2(°)/s and 10-3(°)/s2, which verifies correctness of theoretical model. Work space distribution maps of hexapod robot based on this parallel-driven leg under different configurations are drawn, and two types of whole machine configurations having large work space are selected. Kinematics performance of hexapod robot under these two configurations is compared, and a whole machine configuration to better exert comprehensive athletic ability of this leg mechanism is selected. This research can lay theoretical basis for the following research of this hexapod robot. Kinematical modeling method of whole machine used is also practical for other hexapod robots.
- 出版日期2017
- 单位上海交通大学
