基于影响系数原理的六足机器人运动状态分析

采用螺旋理论与影响系数原理对六足爬壁机器人进行运动学分析。首先,对六足机器人单腿应用螺旋理论建立机器人运动学模型;其次，在螺旋理论基础上,利用影响系数原理提出一阶和二阶影响系数矩阵,对机器人末端进行速度和加速度分析,此外该文提出用4个加速度影响因子分析对加速度变化的影响。最后,运用ADAMS建立虚拟样机得到直线行走步态下各关节运动参数数据,并通过华南理工大学研发的实际六足爬壁机器人实验验证了运用螺旋理论分析六足爬壁机器人运动学的正确性和合理性。仿真结果表明，角加速度和一阶影响系数矩阵的变化对加速度的变化起主要作用,为步态轨迹规划提供了有价值的参考。

Motion state analyses for the six-legged robot based on influence coefficient

By using a method based on the influence coefficient principle and screw theory, the motion state of the six legged climbing robot is analyzed. In which, the screw theory to build the movement model for each single leg is firstly adopted. Then 1 order and 2 order influence coefficient matrixes are proposed to analyze the velocity and acceleration for the end point of the robot. Additionally, 4 acceleration influence factors are used to analyze the impact on the acceleration. Finally, in order to obtain the parameters for different rotation angles, a prototype of the six legged wall climbing robot is developed with ADAMS. To test the correctness and rationality of the proposed approach in terms of the kinematics of the six legged wall climbing robot, the actual six legged wall climbing robot developed by South China University of Technology is adopted. And the experimental results show that the change of the angular acceleration and the first order influence coefficient matrix plays an important role on acceleration change, which also provides an valuable reference for gait trajectory planning.