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[1]董伟光,王洪光,姜勇.一种轮足复合式爬壁机器人机构运动学分析[J].智能系统学报,2015,10(3):335-342.[doi:10.3969/j.issn.1673-4785.201411038]
　DONG Weiguang,WANG Hongguang,JIANG Yong.Kinematic analysis of the wall-climbing robot with abiped-wheel hybrid locomotion mechanism[J].CAAI Transactions on Intelligent Systems,2015,10(3):335-342.[doi:10.3969/j.issn.1673-4785.201411038]

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一种轮足复合式爬壁机器人机构运动学分析

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《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 10 期数: 2015年第3期页码: 335-342 栏目: 学术论文—智能系统出版日期: 2015-06-25

Title:: Kinematic analysis of the wall-climbing robot with abiped-wheel hybrid locomotion mechanism

作者:: 董伟光^1,2, 王洪光¹, 姜勇¹; 1. 中国科学院沈阳自动化研究所机器人学国家重点实验室, 辽宁沈阳 110016;
2. 中国科学院大学, 北京 100049

Author(s):: DONG Weiguang^1,2, WANG Hongguang¹, JIANG Yong¹; 1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China

关键词:: 爬壁机器人; 轮足复合; 移动机构; 运动学; 壁面过渡

Keywords:: wall-climbing robot; biped-wheel hybrid; locomotion mechanism; kinematics; wall transition

分类号:: TP24

DOI:: 10.3969/j.issn.1673-4785.201411038

文献标志码:: A

摘要:: 针对一种具有轮足复合式移动机构的爬壁机器人的运动学问题开展相关研究.通过变换矩阵将2种基本运动模式的运动学表达式关联起来,同时引入附着面倾角,构建复合运动模式的运动学模型.在逆运动学分析中,基于给定任务建立了一种运动模式判断流程.针对复合运动模式逆运动学求解中的多解问题,提出一种基于吸附安全性考虑的求解优化方案.最后通过壁面凹过渡仿真实验对所提方法进行验证,结果显示机器人可以成功实现壁面过渡,表明文中所述运动学分析方法的正确性与有效性.

Abstract:: The kinematics of the wall-climbing robot with a biped-wheel hybrid locomotion mechanism is studied. The kinematic equations of the two basic locomotion modes are integrated using a transformation matrix. In addition, the tilt angle of the attachment wall is introduced to the kinematic expression to build the kinematics model of hybrid locomotion mode. A judgment process of locomotion modes is built based on a given task in the inverse kinematics. Aiming at the multi-solution problem in solving inverse kinematics of the hybrid locomotion mode, an optimization method is proposed considering adsorption safety. Finally, the method is verified through simulation of wall concave transition. The results showed that the wall transition of the robot can be achieved successfully and the method proposed is practical and effective for the hybrid locomotion mechanism.

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备注/Memo

收稿日期:2014-11-28;改回日期:。
基金项目:国家自然科学基金资助项目(61179049).
作者简介:董伟光,男,1984年生,博士研究生,主要研究方向为机器人机构学.王洪光,男,1965年生,研究员,博士生导师,主要研究方向为机器人机构学、特种机器人及机电一体化技术.主持和参与完成了国家自然科学基金、国家“863”计划、九五公关及企业委托等研究与应用课题多项.获得发明和实用新型专利20余项,发表学术论文50余篇.姜勇,男,1975年生,副研究员,主要研究方向为机器人智能控制、嵌入式系统、特种机器人系统及应用.参与编写专著2部,发表学术论文20余篇.
通讯作者:董伟光. E-mail: dongweiguang@sia.cn.

更新日期/Last Update: 2015-07-15

一种轮足复合式爬壁机器人机构运动学分析 PDF下载HTML

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一种轮足复合式爬壁机器人机构运动学分析

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