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Snakelike robot kinetic analysis method based on spinor theory and Kane method

A snake-like robot and dynamic analysis technology, applied in the field of robot research and engineering, can solve the problems of insufficient simplicity and beauty of the dynamic model, insufficient calculation efficiency, and large amount of calculation.

Inactive Publication Date: 2018-04-24
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the current method has a large amount of calculation, the calculation efficiency is not high enough, and the dynamic model is not concise and beautiful enough.

Method used

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  • Snakelike robot kinetic analysis method based on spinor theory and Kane method
  • Snakelike robot kinetic analysis method based on spinor theory and Kane method
  • Snakelike robot kinetic analysis method based on spinor theory and Kane method

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Embodiment

[0073] This embodiment provides a method for analyzing the dynamics of a snake-like robot based on the screw theory and the Kane method. The flow chart of the method is as follows figure 2 shown, including the following steps:

[0074] S1. Combining the screw theory to define the Kane equation of the snake robot;

[0075] The Kane equation uses the concept of pseudo-coordinates (pseudo-velocity), and needs to use generalized velocity instead of generalized coordinates to describe the motion of the system. In the specific modeling process, it is necessary to select appropriate pseudo-coordinates according to the actual situation of the system to simplify the analysis and analysis in actual engineering. calculate.

[0076] Next, according to the actual structure of the snake-like robot, combined with the representation of the screw theory kinematic equations, the appropriate pseudo-velocity is selected.

[0077] For an orthogonal joint snake robot with any n degrees of freedo...

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Abstract

The invention discloses a snakelike robot kinetic analysis method based on a spinor theory and a Kane method. The method combines with the spinor theory and the Kane method, and defines an active force spinor, an inertia force spinor, a partial velocity spinor, a generalized active force, and a generalized inertia force and other parameters, and according to experimental observation of the snakelike robot, related parameters corresponding to the snakelike robot are solved, and a kinetic model is established, so as to give out a kinetic analysis method of the snakelike robot. Specific steps comprise: combined with the spinor theory, defining a Kane equation, measuring and approximating each joint quality, length, and undersurface radius of the snakelike robot, and according to experimentalobservation and theoretical equations, deriving each quantity required by the Kane equation, and establishing a Kane kinetic equation. The method combines the spinor theory and the Kane method, and effectively improves calculation speed and calculation efficiency, and the kinetic model of the snakelike robot is improved, and the model is concise and beautiful.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a dynamic analysis method of a snake-shaped robot based on screw theory and Kane method. Background technique [0002] Robot dynamics studies the relationship between motion and force, which is the basis of dynamic design and motion simulation. There are two main problems to be solved: dynamics forward problem and dynamics inverse problem. The positive problem is to find the position Θ and velocity of the joint motion trajectory when a vector torque acting on the joint is known. and acceleration , solving this problem is useful for robot simulation. The inverse problem of dynamics is to know the desired trajectory Θ, with , Find the moment τ that should be applied. Brockett first applied screw theory to the modeling of robots. This method describes the motion of rigid bodies in terms of rotational motion around the joint axis and translational motion along t...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/16
CPCB25J9/065B25J9/1607B25J9/1625B25J9/1638
Inventor 魏武欧阳升张晶
Owner SOUTH CHINA UNIV OF TECH
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