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

Abstract

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

CLC Number:

TP242

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.

Figures/Tables 20

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Table 1

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Table 2

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References 38

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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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Kinematics parallel modelling of systems consisting of adjustable degree-of-freedom modular units

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无分岔运动分支编号	模块单元编号	模块单元关节编号
1	1	2
	1	1
	1	3
	2	1
	2	3
	3	1
	3	3
2	4	1
	4	3
	5	1
	5	3
	6	1
	6	3
	7	1
	7	3
	8	1
	8	3
3	4	2
	9	1
	9	3
	10	1
	10	3
	11	1
	11	3
	12	1
	12	3