用于可重构地面移动机器人的主动球铰

邓志诚; 王巍; 宗光华

用于可重构地面移动机器人的主动球铰

北京航空航天大学机械工程及自动化学院, 北京 100083

基金项目: 985教育振兴计划资助项目(BHA985-1-7)

详细信息

作者简介:
邓志诚(1980-),男,湖南郴州人,博士生,dengzhicheng@me.buaa.edu.cn.

中图分类号: TP 242
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- 文章访问数: 3047
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- 被引次数: 0
出版历程
- 收稿日期: 2005-12-12
- 网络出版日期: 2006-12-31

Active spherical joint for modular reconfigurable mobile robot

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 针对目前可重构移动机器人的姿态调整结构在工作空间和输出力矩等方面的不足,提出了一种三自由度主动球铰,它综合了并联机构和串联机构的优点,在满足可重构地面移动机器人结构尺寸要求的前提下能提供较大的输出力矩和较大的工作空间(并联结构部分可提供17.3N·m的力矩及±40°的俯仰/偏航角度,串联结构部分可提供4.5N·m的翻转力矩和360°的翻转角度).该结构可以丰富机器人的结构形式,增强机器人对环境的适应能力.首先讨论了这种球铰的运动学特性、工作空间,然后在可重构移动机器人——JL-I上测试了驱动力矩,验证了结构的性能.
- 移动机器人 /
- 球铰 /
- 机构 /
- 可重构机器人
Abstract: The present reconfigurable robots have several shortcomings about workspace and output torque in the pose-adjusting mechanisms. Aiming at these problems, a novel active joint was developed, which took advantages of the parallel mechanism and the serial mechanism and had characteristics of high output torque and large workspace. The parallel part is able to pitch and yaw ±40° with 17.3 N·m output torque and the serial part can rotate 360° with 4.5 N·m output torque provided. The application of this mechanism to mobile robots will highly enrich the configurations of the robots, and consequently develop their adaptive abilities to environments. The kinematic and workspace analysis were showed. The drive torque of the joint was tested, and it′s functionalities experimentally using the robot—JL-I were verified.
- mobile robots /
- joints /
- mechanisms /
- reconfigurable robots

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参考文献(1)

[1] Fukuda T, Nakagawa S. Dynamically reconfigurable robotic system Proc of the IEEE Conf on Robotics and Automation. Philadelphia:IEEE Robotics and Automation Society, 1988:1581-1586 [2] Brown H B, Weghe Jr J M V,Bereton C A,et al. Millibot trains for enhanced mobility[J]. IEEE/ASME Transactions on Mechatronics,2002,7(4):452-461 [3] 王田苗,邹丹,陈殿生. 可重构履带机器人的机构设计与控制方法实现 . 北京航空航天大学学报,2005,31(7):705-708 Wang Tianmiao,Zou Dan,Chen Diansheng. Mechanism design and control method of reconfigurable tracked robot[J]. Journal of Beijing University of Aeronautics and Astronautics,2005,31(7):705-708(in Chinese) [4] Osamu Mori,Toru Omata. Coupling of two 2-link robots with a passive joint for reconfigurable planar parallel robot Proc of the IEEE Conf on Robotics and Automation. Washington, DC:IEEE Robotics and Automation Society, 2002:4120-4125 [5] Gosselin C M,Hamel J F. The agile eye:a high-performance three-degree-of-freedom camera-orienting device Proc of the IEEE Conf on Robotics and Automation. Piscataway, NJ:IEEE Robotics and Automation Society, 1994:781-786

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