基于群论的六足机器人运动空间研究

doi:10.13973/j.cnki.robot.2016.0522

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魏武, 叶春台, 袁银龙. 基于群论的六足机器人运动空间研究[J]. 机器人, 2016, 38(5): 522-530,539.DOI: 10.13973/j.cnki.robot.2016.0522. WEI Wu, YE Chuntai, YUAN Yinlong. Workspace Analysis of a Six-legged Robot Based on Group Theory. ROBOT, 2016, 38(5): 522-530,539. DOI: 10.13973/j.cnki.robot.2016.0522.

摘要针对六足机器人相对复杂的机械结构，提出一个简化模型结构，利用等条件约束把腿支链转化为滑动连杆．其次，针对简化后的模型，依据其运动约束方程，分析研究六足机器人可达空间以及姿态空间．在群论基础上，结合六足机器人的运动约束模型，着重分析机器人初始状态的对称性与其运动空间对称性的关系，并通过分层搜索算法，求解六足机器人运动空间．最后通过仿真数据分析六足机器人运动空间随不同参数调整的变化情况，对比分析机器人不同初始状态与其运动空间的关系，同时对运动平台的姿态空间及其截面进行分析．分析与仿真结果表明，利用群约束模型可以对复杂并联机器人运动空间进行更详尽的分析，得到包括空间对称性、姿态空间以及空间截面的详细信息．

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关键词 ：六足机器人, 运动空间, 群论, 分层搜索, 群对称性

Abstract：For the complicated structure of a six-legged robot, a simplified model is proposed to transform the robot legs into slid links using the constraint under equivalent conditions. By this way, the reachable workspace and orientation workspace of the simplified model are defined based on the motion constraint equations. Then the symmetry relationship between initial states and workspace is emphatically analyzed based on the motion constraint model and group theory. To compute and quantify the workspace of the robot, a hierarchical searching method is used. By simulation data, the changes of the workspace with different parameters are analyzed, the workspaces of the robot under different initial states are compared, and the orientation workspace of the motion platform and its cross section are also shown. As shown in analysis and simulation, the workspace of complicated parallel mechanisms is analyzed in detail by a constraint model based on group theory, and the detailed information of workspace symmetry, orientation workspace and cross section is obtained.

Key words： six-legged robot workspace group theory hierarchical searching group symmetry

收稿日期: 2016-03-07 录用日期: 2016-07-22

TP242

基金资助:国家自然科学基金（61573148）；广东省科技重大专项（2015B010919007）

通讯作者: 袁银龙，yuanyinlong2009@163.com E-mail: yuanyinlong2009@163.com

作者简介: 魏武（1970-），男，博士，教授．研究领域：模式识别，人工智能，机器人技术等．
叶春台（1992-），男，硕士生．研究领域：智能控制技术，机器人控制等．
袁银龙（1990-），男，博士生．研究领域：智能控制技术，机器人控制，机器人学习等．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0522 或 https://robot.sia.cn/CN/Y2016/V38/I5/522

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