可重构性和解耦性轮腿式机械腿构型综合方法

doi:10.12382/bgxb.2023.0398

摘要/Abstract

摘要：

基于螺旋理论和可重构机构运动分岔原理,综合出一组完全解耦的可重构轮腿式混联机械腿构型。根据机械腿轮、腿模式自由度需求,分析了机械腿轮腿变换机理,进而综合和筛选出5种主运动支链。基于轮腿变换机理,提出约束支链布局原理和方案,基于螺旋理论构造约束支链,根据主运动支链及约束支链几何条件,进行运动副轴线变换及运动副分解、组合,最终得到 134种约束支链。基于并联机构运动解耦概念,导出驱动副选取条件,确定各约束支链上的驱动副位置。通过实例验证机械腿的可重构性和解耦性。研究结果表明:综合出的机械腿基于约束奇异实现轮腿模式切换,减少了构态变换所需的时间消耗,使模式切换更加高效;由于结构约束的存在,轮式运动时,无需锁死与腿模式运动相关的关节,减少了能量消耗及驱动控制难度。

关键词: 轮腿式机械腿, 构型综合, 约束支链, 可重构性, 解耦性

Abstract:

A set of fully-decoupled reconfigurable wheel-legged hybrid mechanical leg configurations are synthesized based on the screw theory and the motion bifurcation principle of reconfigurable mechanism. According to the degree of freedom requirements of wheel-leg mode, the wheel-leg transformation mechanism is analyzed, and then five kinds of main motion limbs are synthesized and selected. The principle and scheme of constraint limb arrangement are proposed based on the wheel-leg transformation mechanism, and the constraint limbs are obtained based on the screw theory. According to the geometric conditions of the main motion limbs and the constraint limbs, the axis transformation of the kinematic pair and the decomposition and combination of the kinematic pair are carried out, and 134 constraint limbs are finally obtained. Based on the concept of motion decoupling of parallel mechanism, the selection condition of driving pair is derived, and the position of driving pair in each constraint limb is determined. The correctness of the mechanism synthesis method is verified by an example. The synthesized mechanical leg realizes the wheel-leg mode switching based on constraint singularity, which reduces the time consumption required for configuration transformation and makes mode switching more efficient. In addition, there is no need to lock the joints related to leg mode motion during wheel motion due to the existence of structural constraints, which reduces energy consumption and driving control difficulty.

Key words: wheel-legged mechanical leg, configuration synthesis, constraint limb, reconfigurablility, decoupling

中图分类号:

TH112

潘武星, 李瑞琴. 可重构性和解耦性轮腿式机械腿构型综合方法[J]. 兵工学报, 2024, 45(8): 2658-2666.

PAN Wuxing, LI Ruiqin. A Configuration Synthesis Method of Reconfigurable and Decoupled Wheel-legged Mechanical Leg[J]. Acta Armamentarii, 2024, 45(8): 2658-2666.

图/表 13

图1 轮腿结构及自由度

Fig.1 Wheel-legged structure and degree of freedom

表1 主运动支链构型

Table 1 The configurations of main motion limb

主运动支链	构型
1	$R_z$ R_yR_x $P_z R_a$
2	$R_z$ R_xR_y $P_z R_a$
3	$R_z$ U_xy $P_z R_a$
4	$U_z y$ R_x $P_z R_a$
5	$U_z x$ R_y $P_z R_a$

表1 主运动支链构型

Table 1 The configurations of main motion limb

主运动支链	构型
1	$R_z$ R_yR_x $P_z R_a$
2	$R_z$ R_xR_y $P_z R_a$
3	$R_z$ U_xy $P_z R_a$
4	$U_z y$ R_x $P_z R_a$
5	$U_z x$ R_y $P_z R_a$

图2 约束支链布局

Fig.2 Arrangement of constraint limbs

图3 主运动支链1及无约束支链布置

Fig.3 Main motion limb 1 and arrangement of unconstrained limb

图4 绕z轴转动

Fig.4 Rotation around z axis

图5 绕x轴方向转动

Fig.5 Rotation around x axis orientation

图6 绕y轴转动

Fig.6 Rotation around y axis

图7 UPU约束支链构型

Fig.7 Configuration of UPU constraint limb

表2 部分约束支链驱动副选择

Table 2 Driving pair selection of partially constraint limbs

约束支链1构型	约束支链2构型
U_yx' $P_y z$ U_zx' U_yx' $P_y z$ R_x'R_z R_yR_x' $P_y z$ R_x'R_z	U_yx' $P_y z$ U_zx' U_yz' $P_x z$ U_zx' U_y'z' $P_x z$ U_z'y'

表2 部分约束支链驱动副选择

Table 2 Driving pair selection of partially constraint limbs

约束支链1构型	约束支链2构型
U_yx' $P_y z$ U_zx' U_yx' $P_y z$ R_x'R_z R_yR_x' $P_y z$ R_x'R_z	U_yx' $P_y z$ U_zx' U_yz' $P_x z$ U_zx' U_y'z' $P_x z$ U_z'y'

图8 $\left(\left(\underline{R}_{z} R_{y}-U_{y^{\prime} z^{\prime}} \underline{P}_{x z} U_{z^{\prime} y^{\prime}}\right)+\left(R_{x}-U_{y x^{\prime}} \underline{P}_{z z} U_{z x^{\prime}}\right)\right)+\underline{P}_{z} \underline{R}_{\mathrm{a}}$机械腿

Fig.8 $\left(\left(\underline{R}_{z} R_{y}-U_{y^{\prime} z^{\prime}} \underline{P}_{x z} U_{z^{\prime} y^{\prime}}\right)+\left(R_{x}-U_{y x^{\prime}} \underline{P}_{z z} U_{z x^{\prime}}\right)\right)+\underline{P}_{z} \underline{R}_{\mathrm{a}}$ mechanical leg

图9 轮模式下可重构验证

Fig.9 Reconfigurable verification in wheel mode

图10 腿模式下可重构验证

Fig.10 Reconfigurable verification in leg mode

图11 解耦性验证

Fig.11 Decoupling verification

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