【摘 要】
：
根据飞机制孔的技术要求,设计了一种飞机制孔六足机器人。机器人采用行走-定位一体化的设计方案,并且具有冗余驱动。首先介绍机器人的构型,对机构的自由度进行了分析,然后建
论文部分内容阅读
根据飞机制孔的技术要求,设计了一种飞机制孔六足机器人。机器人采用行走-定位一体化的设计方案,并且具有冗余驱动。首先介绍机器人的构型,对机构的自由度进行了分析,然后建立机器人的运动学和动力学模型,重点研究了机器人的力/位置混合控制策略,最后进行了行走实验和工作平台位姿调整实验。实验表明,力/位置混合控制策略满足制孔机器人行走和定位的性能指标。
According to the technical requirements of the aircraft hole, a hexapod robot with a hole is designed. The robot adopts walking - positioning integrated design, and has redundant drive. Firstly, the configuration of the robot is introduced, the degree of freedom of the mechanism is analyzed, and then the kinematics and dynamics model of the robot is established. The force / position hybrid control strategy of the robot is mainly studied. Finally, the walking experiment and the attitude adjustment of the working platform experiment. Experiments show that the force / position hybrid control strategy can meet the performance requirements of the robot for walking and positioning.
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