【摘要】 为了对六足机器人的并联机械腿进行静力学优化设计,提出了一种同时考虑约束力映射关系和驱动力映射关系的腿部机构静力学优化设计方法,进而对结构参数进行了优化。在对腿部机构进行了驱动、约束映射分析的基础上,分别建立了腿部机构的驱动雅可比矩阵和约束雅可比矩阵;基于驱动雅可比矩阵建立了腿部机构的驱动静力传递平衡方程,定义了驱动静力学性能评价指标并绘制了评价指标分布图,分析了结构参数与驱动静力评价指标之间的关系;基于约束雅可比矩阵建立了腿部机构的约束静力传递平衡方程,定义了约束静力学性能评价指标,分析了结构参数与约束静力评价指标之间的关系;基于驱动、约束静力学性能评价指标,采用蒙特卡罗法对结构参数进行了优化设计,计算结果表明,固定平台结构参数为200mm、中间连接杆结构参数为70mm、运动平台结构参数为50mm、支链1和3的最小杆长为530mm、支链2的最小杆长为330mm、支链1和3的最大杆长为900mm、支链2的最大杆长为600mm时腿部机构的静力学综合性能最好。本文分析结果为六足步行机器人的进一步分析研究奠定了基础。更多还原

【Abstract】 In order to optimal design for the statics of the six-legged robot’s parallel mechanical leg, a statics optimal design method based on the mapping of both constraint and actuation forces was proposed. Firstly, the mapping of both constraint and actuation was analyzed, and the constraint and actuation Jacobian matrix was established. Then, based on the actuation Jacobian matrix, the actuation statics transmission equation was established, the performance evaluation index of actuation statics was designed, and the relationship between the performance evaluation index and structure parameters was analyzed. Through the same way, the constraint the statics analysis was conducted. Finally, based on the performance evaluation index both of constraint and actuation statics, the structure parameters were optimal designed by Monte Carlo method. Calculations showed that when the parameter of the fixed platform was 200 mm, the parameter of the connecting rod was 70 mm, the parameter of the motion platform was 50 mm, the minimum rod length of branch No.1 and 3 was 530 mm, the minimum rod length of branch 2 was 330 mm, the maximum rod length of branch No.1 and 3 was 900 mm, the maximum rod length of branch No.2 was 600 mm, the statics performance of the mechanical leg was the best. The studies laid the theoretical foundation for further study of the six-legged robot.更多还原