通过使用集成绝对线性编码器对被动斯图尔特-高夫平台的直接动力学进行实验验证,并使用修改的卡丹关节
Martin Bem1, Aleš Ude1,2, Bojan Nemec1
1Department of Automatics, Biocybernetics, and Robotics, Jožef Stefan Institute, 1000 Ljubljana, Slovenia.
Sensors (Basel, Switzerland)
|February 13, 2026
概括
这项研究验证了一种新的动力学模型,用于具有修改关节的六足动物平台. 经过验证的模型实现了低于毫米的位置估计精度,从而实现了物联网支持的灵活固定.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 机械工程 机械工程
- 机械电子学是什么意思 机械电子学
背景情况:
- 斯图尔特-高夫平台 (六足) 在机器人技术中被广泛使用.
- 标准运动模型假定理想的球形关节,这往往不适合于现实世界的应用.
- 修改的关节几何学可以提高刚性,但复杂的动力学建模.
研究的目的:
- 实验验证一个被动的斯图尔特-高夫平台的计算动力学模型与修改的卡丹关节.
- 开发一个高效的数值优化框架来解决直接和反向动力学,而不需要简化联合假设.
- 集成绝对线性编码器进行自主姿势测量,并创建一个物联网支持的可重新配置的固定装置.
主要方法:
- 开发一个基于数值优化的框架,用于直接和反向动力学.
- 使用同质转换的直接动力学的代计算.
- 将LinACETM绝对线性编码器集成到圆柱形腿关节中.
- 对理想球形接头的分析模型进行基准测试.
主要成果:
- 拟议的动力学模型的实验验证.
- 在姿势估计中证明了亚毫米准确度.
- 成功地将被动平台转化为支持物联网的可重新配置固定装置.
结论:
- 拟议的动力学模型准确地代表了六足动物的行为,具有修改的卡丹关节.
- 装有传感器的六脚脚适用于工业灵活的固定应用.
- 绝对编码器的集成使得自主传感和配置回忆成为可能.
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