基于速度方向可操作度的机器蛙机构参数优化

以速度方向可操作度作为跳跃性能的评价指标,从机构设计角度寻求改善仿蛙跳跃机器人跳跃性能的方法.在仿蛙跳跃机器人机构模型的基础上,建立了起跳阶段的运动学方程,得到机器人从关节空间到质心运动空间的速度映射关系,结合速度方向可操作度,利用优化算法对仿蛙跳跃机器人的机构参数进行优化,使机器人的跳跃性能达到最佳.优化结果表明,运用速度方向可操作度理论,对跳跃机器人机构参数进行优化研究是有效可行的.

Mechanism parameters optimization of bionic frog jumping robot based on velocity directional manipulability measure

The improvement of jumping performance of bionic frog jumping robot was pursued in view of the mechanism design,taking velocity directional measure as an evaluating index of jumping performance.On the basis of bionic frog jumping robot mechanism model,kinematic equations in takeoff phase were established,and the velocity mapping relation of robot from the joint space to the moving space of the center of mass was obtained.Optimal algorithm combined with velocity directional measure was used to optimize the mechanism parameters of the bionic frog jumping robot,in order to optimize the jumping performance of the robot.The optimal result shows that the research on mechanism parameters optimization of jumping robot is feasible by using the theory of velocity directional measure.