KINEMATICS AND SIMULATION ANALYSIS OF A PARALLEL LEG HEXAPOD AGRICULTURAL ROBOT

XIE DongFu; LUO YuFeng; SHI ZhiXin; LIU YanDe; XIE JinFa

doi:10.16579/j.issn.1001.9669.2021.02.013

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KINEMATICS AND SIMULATION ANALYSIS OF A PARALLEL LEG HEXAPOD AGRICULTURAL ROBOT

更新时间：2022-09-22

- KINEMATICS AND SIMULATION ANALYSIS OF A PARALLEL LEG HEXAPOD AGRICULTURAL ROBOT
- Journal of Mechanical Strength Vol. 43, Issue 2, Pages: 333-340(2021)
- 作者机构：
  
  1. 南昌大学机电工程学院
  2. 华东交通大学机电与车辆工程学院
- 作者简介：
- 基金信息：
- DOI：10.16579/j.issn.1001.9669.2021.02.013
  CLC：
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XIE DongFu, LUO YuFeng, SHI ZhiXin, et al. KINEMATICS AND SIMULATION ANALYSIS OF A PARALLEL LEG HEXAPOD AGRICULTURAL ROBOT. [J]. 43(2):333-340(2021)
DOI：

XIE DongFu, LUO YuFeng, SHI ZhiXin, et al. KINEMATICS AND SIMULATION ANALYSIS OF A PARALLEL LEG HEXAPOD AGRICULTURAL ROBOT. [J]. 43(2):333-340(2021) DOI： 10.16579/j.issn.1001.9669.2021.02.013.

摘要

针对行走腿为串联结构及平面多连杆结构的六足机器人承载能力差、运动误差大等问题,提出了一种一平移两转动(1T2R)并联腿六足农业机器人机构。首先,对并联腿机构的运动学位置、速度、加速度进行了分析。其次,基于结构约束条件,对其工作空间进行了分析。最后,对六足农业机器人机构进行了三维建模及仿真分析。理论分析及仿真结果表明:该并联腿机构运动学位置正逆解方程均可解析求解,正解方程最多具有4组解。该机构具有部分运动输入-输出解耦性,控制方便。该并联腿机构工作空间大,由多个球冠组成。该六足机器人机构无需转弯即能实现前后、左右移动,运动平稳,机构设计合理,适合作为农业机器人行走机构使用。

Abstract

In view of the problems such as poor bearing capacity and large motion error of hexapod robot with series leg structure and plane multi-link structure,The parallel leg hexapod agricultural robot mechanism with one translational and two rotations（ 1 T2 R） was proposed. Firstly,the kinematics position,speed and acceleration of the parallel leg mechanism were analyzed. Secondly,the working space of the parallel leg mechanism was analyzed based on the structural constraints. Finally,three-dimensional modeling and simulation analysis of the hexapod agricultural robot mechanism were carried out. Theoretical analysis and simulation results show that the forward and inverse kinematics equations of the parallel leg mechanism can be solved analytically,and the forward equation has at most four groups of solutions. The partial motions of the mechanism are with inputoutput decoupling and the mechanism can be controlled easy. The parallel leg mechanism has a large working space and is composed of multiple spherical crowns. The hexapod robot can move forward and backward,left and right without turning. The mechanism design is reasonable,which is suitable for the use of agricultural robot walking mechanism.

关键词

六足农业机器人并联腿一平移两转动运动学工作空间仿真分析

Keywords

Hexapod agriculture robotParallel leg1T2RKinematicsWorkspaceSimulation analysis

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