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精确定位和高效制孔是自主移动式自动化制孔设备研制的难点。针对一种行走定位一体化的并联六足飞机制孔机器人,提出一种运动学模型。与基于固定坐标系的运动学模型不同,该模型基于机器人身体平台随动坐标系,仅需测量各腿支链的伸缩长度和制孔目标位姿偏差,便能进行末端执行器任意位姿调节,可同时进行制孔位置和法向精确定位。其降低了测量系统的难度和误差,确保了较高的定位精度和制孔效率。应用该模型进行制孔操作规划并仿真分析,最后在真实样机上实验,实验结果表明机器人可以很好地完成位姿调节和制孔操作。
Precise positioning and efficient hole making is the difficulty of the development of autonomous mobile automatic hole making equipment. A kind of kinematics model is proposed for a kind of paralleled six-legged-hole robot with walking orientation. Different from the kinematic model based on the fixed coordinate system, this model is based on the robot coordinate system of the body platform, and only needs to measure the telescopic length of each branch of the leg and the deviation of the target position and attitude of the hole, , Can be made at the same time the location of the hole and the precise positioning. It reduces the difficulty and error of the measurement system, ensuring high positioning accuracy and hole making efficiency. The model was used to make hole operation planning and simulation analysis. Finally, the experiment was carried out on a real prototype. The experimental results show that the robot can finish the pose adjustment and hole making operation well.