吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (06): 1581-1588.doi: 10.7964/jdxbgxb201306024

• paper • Previous Articles     Next Articles

Kinematics analysis on obstacle-crossing robot based on rigid-flexible parallel linkage mechanism system

GUO Yun-long1, LIU Shao-gang1, JIA He-ming2   

  1. 1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
    2. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China
  • Received:2012-06-05 Online:2013-11-01 Published:2013-11-01

Abstract:

A kind of rigid-flexible hybrid parallel close looped linkage mechanism was developed for obstacle-crossing robot. The plane model of the rigid-flexible hybrid system was set up. The dynamic model was established using Lagrange dynamical equations and modal equations. Simulations of the proposed model were conducted and comparison was made with the rigid system. Results show that the trend of energy variation of the new system is similar to that of the rigid system;so, it can be used under the same application condition. The curve of kinetic energy of the rigid-flexible system is gentler than the rigid system with the action of external force and possesses more significant buffering characteristics. Therefore the new system is more suitable for obstacle-crossing under severe impacting situation.

Key words: automatic control technology, rigid-flexible hybrid system, parallel linkage mechanism, dynamic modeling, obstacle-crossing robot

CLC Number: 

  • TP24

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