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研制了一套连续体搜救机器人,整个机器人由两个关节段组成,每段可实现两个弯曲自由度,通过六根驱动线的协调控制来改变整个机器人的运动姿态.采用旋量理论和指数积方法建立此机器人的运动学模型,完成了正运动学及雅可比矩阵的求解,并且基于旋量理论采用Paden-Kahan子问题完成了逆运动学的求解.在Matlab中对其运动学算法进行了仿真分析,验证了运动学算法的正确性,结果表明旋量法可有效描述连续体搜救机器人的弯曲运动.
A set of continuous search and rescue robot was developed. The whole robot consists of two joints, each of which can achieve two bending degrees of freedom, and the coordinated movement of the six driving lines can be used to change the posture of the whole robot. Methods The kinematics model of this robot was established and the positive kinematics and Jacobian matrix were solved. The inverse kinematics was solved by the Paden-Kahan subproblem based on the spin theory. The kinematics algorithm was implemented in Matlab Simulation analysis verifies the correctness of the kinematic algorithm. The results show that the spin-spin method can effectively describe the bending motion of the continuous-motion search and rescue robot.