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kinematic modeling and analysis of novel eight-wheel lunar rover

Journal of Harbin Institute of Technology(New Series) 2009年第6期16卷 751-755页

作者：高海波张朋邓宗全胡明 State Key Laboratory of Robotics and Systems School of Mechatronic Engineering Harbin Institute of Technology

A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.

关键词： kinematic modeling locomotion system eight-wheel lunar rover lunar rover

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Analysis on structural characteristics of rotors in twin-rotor cylinder-embedded piston engine

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Journal of Central South University 2014年第6期21卷 2240-2252页

作者：陈虎潘存云徐海军邓豪韩晨 College of Mechatronics Engineering and Automation National University of Defense Technology Naval Fly Academy

Twin-rotor cylinder-embedded piston engine is proposed for dealing with the sealing problems of rotors in twin-rotor piston engine where the existent mature sealing technologies for traditional reciprocating engine can be *** quantity and forms of its sealing surfaces are reduced and simplified,and what's more,the advantages of twin-rotor piston engine are inherited,such as high power density and no valve *** the motion law of two rotors,its kinematic model is established,and the general expression for some parameters related to engine performance,such as the trajectory,displacement,velocity and acceleration of the piston and centroid trajectory,angular displacement,velocity and acceleration of the rod are *** selecting different variation patterns of relative angle of two rotors,the relevant variables are *** can be concluded that by designing the relative angle function of two rotors,the volume variation of working chamber can be ***,a comprehensive consideration for friction and vibration is necessary because velocity and acceleration are quite different in the different functions,the swing magnitude of rod is proportional to link ratio λ,and the position of rod swing center is controlled by eccentricity *** order to reduce the lateral force,a smaller value of λ should be selected in the case of the structure,and the value of e should be near *** is no relationship between the piston stroke and the variation process of relative angle of two rotors,the former is only proportional to the amplitude of relative angle of two rotors.

关键词： rotor cylinder-embedded sealing kinematic modeling link ratio eccentricity

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Multi-locomotion transition of tensegrity mobile robot under different terrains

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Science China(Technological Sciences) 2024年第2期67卷 536-557页

作者： YANG Qi LIU XinYu WANG PanFeng SONG YiMin SUN Tao Key Laboratory of Mechanism Theory and Equipment Design(Tianjin University) Ministry of EducationTianjin UniversityTianjin 300350China

Knowing how to make a multi-locomotion robot achieve locomotion transition under different terrains is a challenging problem,especially for tensegrity robots with multi-locomotion *** this study,a motion planning method for the transition of a multi-locomotion tensegrity robot(hereafter TJUBot)under different terrains is *** robot can achieve four locomotion modes:earthworm-like,inchworm-like,tumbling,and sliding locomotion with only two *** models of the four locomotion modes under five typical terrains,including flat ground,confined space,obstacle,gap,and descending slope,are established using the energy ***,the kinematic characteristics(driving law and initial position)of the robot under these terrains are *** this basis,motion planning for the locomotion transition of TJUBot is conducted,which includes a perception strategy based on three laser sensors and a transition strategy under different *** driving laws of the two motors that can ensure the effective locomotion transition of TJUBot under different terrains are naturally ***,experiments are *** demonstrate that the robot can achieve effective locomotion transition when the motion planning method is used.

关键词： multi-locomotion robot tensegrity kinematic modeling locomotion transition

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Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

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Frontiers of Mechanical Engineering 2018年第2期13卷 211-224页

作者： Qizhi MENG Fugui XIE Xin-Jun LIU The State Key Laboratory of Tribology & Institute of Manufacturing Engineering Department of Mechanical Engineering Tsinghua University Beijing 100084 China Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing 100084 China

This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom （DOFs） high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 11/2 mobile platform. The mobile platform is a major innova- tion that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot＇s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

关键词： spatial parallel robot pick-and-place operations mobility analysis kinematic modeling workspace identification

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Structure design and coordinated motion analysis of bionic crocodile robot

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Biomimetic Intelligence & Robotics 2024年第2期4卷 50-62页

作者： Jun Wang Jingya Zheng Yuhang Zhao Kai Yang School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China

Crocodiles,one of the oldest and most resilient species on Earth,have demonstrated remarkable locomotor abilities both on land and in water,evolving over millennia to adapt to diverse *** this study,we draw inspiration from crocodiles and design a highly biomimetic crocodile robot equipped with multiple degrees of freedom and articulated trunk *** design is based on comprehensive analysis of the structural and motion characteristics of real *** bionic crocodile robot has a problem of limb-torso incoordination during *** solve this problem,we used the D-H method for both forward and inverse kinematics analysis of the robot's legs and *** a series of simulation experiments,we investigated the robot's motion stability,fault tolerance,and adaptability to environments in two motor patterns:with and without spine and tail *** experimental results show that the bionic crocodile robot exhibits superior motion performance when the spine and tail cooperate with the *** study not only demonstrates the potential of biomimicry in robotics but also underscores the significance of understanding how nature's designs can inform and enhance technological innovations.

关键词： Bionic crocodile robot kinematic modeling Motion simulation Multipart coordination

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Robotic arm calibration and teaching method based on binocular vision

Robotic arm calibration and teaching method based on binocul...

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第三十九届中国控制会议

作者： Ming Chen Xin Hong Longsheng Wei Yi Liu Chi Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems CRRC Zhuzhou Locomotive Co. Ltd.

Aiming at the errors caused by the production and assembly of the robotic arm and the problem of low absolute positioning accuracy, a method of robotic arm calibration and teaching based on binocular vision is proposed in this paper. First,the joints of the robot arm is controled to rotate separately, and the motion trajectory data of the end of the robot arm is recorded by the binocular vision. Then the circle center and circle plane normal vector of each joint axis motion is optimized using Adam algorithm. After identification and calculation, accurate kinematic parameters are obtained, and then kinematically model the manipulator once again. After the calibration is completed, the user can use the teaching rod to define the trajectory under the camera, and the defined trajectory is converted to the robot arm coordinate system for inverse kinematics solution. Finally, the robotic armis controled to reproduce the trajectory. Experimental results show that the proposed method can complete the precise calibration of the kinematic parameters of the robotic arm. After calibration, the average error of the end of the robotic arm is within 1 mm, and the absolute positioning accuracy is improved by more than 80%. The method proposed in this paper has low cost and simple operation, and it is easy to be popularized and applied in industrial and desktop robotic arm calibration and teaching.

关键词： Binocular vision Calibration kinematic modeling Teaching Positioning accuracy

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一种具有地形自适应能力的全地形负载移动底盘研究

一种具有地形自适应能力的全地形负载移动底盘研究

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作者：王邦宇浙江农林大学

学位级别：硕士

轮式移动机器人因其结构简单、可靠性高以及灵活的运动性能而被广泛应用,但传统轮式机器人在越过障碍物方面存在一定的局限性,这使得轮式移动机器人的越障能力有着更大的挑战。因此,在不增加控制难度的前提下,设计一款越障能力卓越的轮... 详细信息

轮式移动机器人因其结构简单、可靠性高以及灵活的运动性能而被广泛应用,但传统轮式机器人在越过障碍物方面存在一定的局限性,这使得轮式移动机器人的越障能力有着更大的挑战。因此,在不增加控制难度的前提下,设计一款越障能力卓越的轮式移动机器人成为了许多学者研究的热点之一。本文研究了一种四轮驱动的六轮移动底盘,主要研究通过运动学及动力学分析,优化其结构设计参数,使底盘具有良好的地形适应性,其内容包括:(1)完成了六轮全地形移动底盘的整体方案设计,并以地形被动自适应理念为核心,针对越障性能要求,设计了地形适应结构,提出了一种新型被动自适应机构,能够自适应于复杂地形环境。(2)建立了底盘结构的运动学及动力学模型。基于空间位姿描述,分析了机器人在各运动状态时车轮的运动参数,为控制系统设计提供参考依据。通过研究运动学和动力学模型,分析了各参数对底盘越障性能的影响,确定了理想的参数和结构比例。(3)基于RecurDyn动力学仿真,读取关键结构在不同障碍环境运行过程中的角度变化,对比分析验证其地形适应能力,证实了其结构设计的合理性。(4)设计了底盘软硬件系统,对驱动电机进行了选型计算,并为其搭建了基于STM32主控板的控制系统,完成了其软件系统的设计,使底盘在运行过程中确保有足够的精度和抗干扰性。(5)搭建实体样机及测试环境,在不同的速度条件下,对移动底盘的各速度指标及精度指标进行了测试,实验结果均验证了底盘结构的稳定性与有效性。

关键词： Mobile chassis Terrain adaptability Passive adaptive mechanism kinematic modeling dynamics simulation

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