自由度可调模块单元系统运动学并行建模

doi:10.12305/j.issn.1001-506X.2024.09.27

摘要/Abstract

摘要：

针对多个自由度可调模块单元组成的系统, 提出含标准化流程的模块化机器人拓扑结构数学描述及运动学并行建模方法。首先, 建立模块单元运动传递库, 并提出含标准化流程的四元组矩阵模块化机器人拓扑结构数学描述。接着, 以模块单元运动学模型为基础, 考虑多分支模块化机器人各分支间耦合影响, 建立适用于链式模块化机器人的位置级与速度级运动学模型。随后, 提出模块化机器人运动学并行建模方法, 理论分析和仿真结果均表明该算法能够适应各类型拓扑结构模块化机器人的快速建模。拓扑结构数学描述与并行计算的引入降低了模块化机器人建模难度, 提升了建模效率。

关键词: 模块化机器人, 拓扑结构, 分支空间雅可比矩阵, 并行建模

Abstract:

For the system containing multiple adjustable degree-of-freedom modular units, a mathematical description of the modular robot topology including a standardized process and a kinematics parallel modelling method are proposed. Firstly, a library of the modular unit motion transfer is established, and a mathematical description of the modular robot topology based on the quadruple matrix with the standardized process is proposed. Then, based on the kinematics model of one modular unit, considering the coupling effect between the branches of the modular robot with multiple motion branches, a position-level and speed-level kinematics model is established, which is suitable for chain modular robots. Subsequently, a kinematics parallel modeling method of modular robots is proposed. Both theoretical analysis and simulation results show that this method can be adapted to the rapid modeling of modular robots with various types of topologies. The introduction of topology mathematical description and parallel computing reduces the difficulty of modular robot modeling and improves modeling efficiency.

Key words: modular robot, topology, branch space Jacobian matrix, parallel modelling

中图分类号:

TP242

费军廷, 贾庆轩, 陈钢. 自由度可调模块单元系统运动学并行建模[J]. 系统工程与电子技术, 2024, 46(9): 3150-3165.

Junting FEI, Qingxuan JIA, Gang CHEN. Kinematics parallel modelling of systems consisting of adjustable degree-of-freedom modular units[J]. Systems Engineering and Electronics, 2024, 46(9): 3150-3165.

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运动输入端坐标系所固连接口编号	运动输出端坐标系所固连接口编号	关节轴线
运动输入端坐标系所固连接口编号	运动输出端坐标系所固连接口编号	S₁	S₂	S₃
1	2	-	1	-
	3	2	1	3
	4	2	1	-
2	1	-	1	-
	3	-	1	2
	4	-	1	-
3	1	2	3	1
	2	2	-	1
	4	-	-	1
4	1	1	2	-
	2	1	-	-
	3	-	-	1

接口所处模块单元半球类型	相邻模块单元体心轴线排布	模块单元连接方位关系	位姿转换矩阵
相同 (①主动-主动; ②被动-被动)	垂直	①	$ \left[\begin{array}{cccc}-1 & 0 & 0 & 0 \\0 & 1 & 0 & 0 \\0 & 0 & -1 & 0 \\0 & 0 & 0 & 1\end{array}\right]$
相同 (①主动-主动; ②被动-被动)	平行	②	$ \left[\begin{array}{cccc}1 & 0 & 0 & 0 \\0 & -1 & 0 & 0 \\0 & 0 & -1 & 0 \\0 & 0 & 0 & 1\end{array}\right]$
相反 (①主动-被动; ②被动-主动)	垂直	②	$ \left[\begin{array}{cccc}1 & 0 & 0 & 0 \\0 & -1 & 0 & 0 \\0 & 0 & -1 & 0 \\0 & 0 & 0 & 1\end{array}\right]$
相反 (①主动-被动; ②被动-主动)	平行	①	$ \left[\begin{array}{cccc}-1 & 0 & 0 & 0 \\0 & 1 & 0 & 0 \\0 & 0 & -1 & 0 \\0 & 0 & 0 & 1\end{array}\right]$

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