全方位移动装配机器人运动学分析

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全方位移动装配机器人运动学分析

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全方位移动装配机器人运动学分析

叶长龙, 佟泽卉, 于苏洋, 姜春英

沈阳航空航天大学机电工程学院，辽宁 沈阳 110136

Kinematic Analysis of an Omnidirectional Mobile Assembly Robot

YE Changlong, TONG Zehui, YU Suyang, JIANG Chunying

School of Mechatronic Engineering, Shenyang AeROSpace University, Shenyang 100136, China

摘要 针对空间狭小拥挤、地面不平的特殊装配环境，设计了一种5自由度全方位移动装配机器人．该机器人主要由基于4组并联布置的MY（mutual YoYo）轮的全方位移动平台和具有2自由度的并联举升机构组成．首先，针对该机器人的全方位运动和并联举升机构的2自由度结构特点，建立了机器人的整体运动学模型，并基于该模型对机器人进行了圆形曲线轨迹仿真．然后，设计双曲线滤波PD（proportional derivative）控制器对机器人的轨迹进行跟踪并分析其轨迹跟踪误差．该控制器能控制平均误差在5mm左右，且误差随跟踪时间减小而减小．最后，通过实验结果验证了该运动学模型和仿真结果的正确性，且该控制器能迅速并精确地实现其轨迹跟踪，从而进一步验证了该全方位移动装配机器人的优越性． 关键词 ： 全方位移动,  并联机构,  运动学,  轨迹跟踪    Abstract：For the special assembly application in narrow space with uneven ground, a 5-DOF (degree of freedom) omnidirectional mobile assembly robot is developed. It is composed of an omnidirectional mobile platform with four groups of parallel MY (mutual YoYo) wheels and a 2-DOF parallel lifting mechanism. Firstly, the overall kinematic model of the robot is built based on both omnidirectional movement of the robot and the structural features of the 2-DOF parallel lifting mechanism. The circular curve trajectory of the robot is simulated based on the model. Then, the hyperbolic filtering PD (proportional derivative) controller is used to track the trajectory of the robot and analyze trajectory tracking errors. The controller can control average error at about 5 mm, and the errors decrease as the tracking time decrease. Finally, the experiment results validate the accuracy of the kinematic model and the simulation results, and the controller can realize the trajectory tracking quickly and accurately. It further verifies the superiority of the omnidirectional mobile assembly robot. Key words： omnidirectional mobile           parallel mechanism           kinematics           trajectory tracking 收稿日期: 2016-05-18      出版日期: 2016-07-29 1: TP242 基金资助:辽宁省科学技术计划（2012220032） 通讯作者: 叶长龙，changlye@163.com    E-mail: changlye@163.com 作者简介: 叶长龙（1974-），男，教授．研究领域：仿生机器人，机器人机构． 佟泽卉（1991-），女，硕士生．研究领域：机器人机构设计与运动分析． 于苏洋（1984-），男，博士．研究领域：机器人机构设计与运动控制． 引用本文:    叶长龙, 佟泽卉, 于苏洋, 姜春英. 全方位移动装配机器人运动学分析[J]. 机器人, 2016, 38(5): 550-556.         YE Changlong, TONG Zehui, YU Suyang, JIANG Chunying. Kinematic Analysis of an Omnidirectional Mobile Assembly Robot. ROBOT, 2016, 38(5): 550-556.