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双足磁吸附五自由度爬行机器人运动学模型构建及求解
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湖北省自然基金资助项目(2016CFB581)


Kinematic Model Building and Solving for the Climbing Robot with Five Degrees of Freedom Adsorbed by Biped Electromagnetic Sucker
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    摘要:

    由于应用于特种行业及复杂工程领域的爬行机器人研究的重要性,在设计出一种双足磁吸附五自由度爬行机器人机械系统的基础上,以该五自由度爬行机器人的机构为研究对象,运用D-H参数法进行其运动模型构建,并通过矩阵变换,推导出了该机器人的正运动学解的齐次矩阵,并通过数学求解求出其逆解,然后采用MATLAB对该机器人的运动数学模型进行仿真分析,得出其正解和逆解。将仿真结果与计算结果进行对比分析,验证了所建立的五自由度爬行机器人运动模型的正确性。该研究对于开发五自由度爬行机器人的控制系统及控制策略,以及它在具体工程实践中的应用具有重要的研究基础作用。

    Abstract:

    Based on the importance of different types of micro climbing robots in special industry and complex engineering field,a new kind of micro climbing robot with five degrees of freedom adsorbed by biped electromagnetic sucker was designed. Taking the 5-DOF microrobot as the research object,its kinematic model was built by means of the D-H parameters theory. Through the matrix transformation, the homogeneous matrix solutions of the forward kinematics of the robot were deduced. And through the mathematical solution, its inverse solution was found.Then, the forward kinematics solution and the inverse kinematics solution were obtained by the MATLAB simulation.The simulation results were compared with the calculation results, which verified the correctness of the motion model of the miniature 5-DOF crawling robot. It provides reference for developing the control system and control strategy of the five degree of freedom crawl robot and its application in specific engineering practice.

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余震,霍同乾,赵昊坤,范勤.双足磁吸附五自由度爬行机器人运动学模型构建及求解[J].机床与液压,2019,47(3):14-20.
. Kinematic Model Building and Solving for the Climbing Robot with Five Degrees of Freedom Adsorbed by Biped Electromagnetic Sucker[J]. Machine Tool & Hydraulics,2019,47(3):14-20

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  • 在线发布日期: 2019-07-16
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