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1 Journal of Beijing University of Aeronautics and A stronautics May 200 Vol. 36 No5 (, 009) :,,,,,,. ADAMS,,,,. : ; ; ; : TP 242 : A : (200) M echan ism optim iza tion of b ion ic cockroach robot ba sed on locom otion dexter ity Zhang J ianbin Song Ronggui Chen W eihai Zhang Guangp ing ( School ofmechanical Engineering and Automation, Beijing University of Aeronautics and A stronautics, Beijing 009, China) Ab strac t: The oval body configuration based on the characteristic of mechanism and the locomotion dex2 terity of a bionic cockroach robot was chosen. The workspace of a single leg and the dexterity denoted by the recip rocal of condition number of the whole bodyπs Jacobian matrix were used to op tim ize and configure the pa2 ram eters of m echanism. The op tim al length ratios of links were decided via dexterity and reliability. The pa2 ram eterization simulation model was built in ADAM S. Sim ulation result according w ith the analysis by theory indicates that the op tim ization and configuration are correct and suitable. This m ethod p rovides a basis for the development of actual p roto and the control of bionic cockroach robot. It also can be referable for the design of other hexapod robots. Ke y wo rd s: bionic cockroach robot; dexterity; op tim ization; Jacobian matrix,, [ ],,,. [ 2 ].,,,, [ 3-5 ].,. [ 6 ], [ 2-3 ]. [ 4 ] [ 7-0 ]. : : 863 ( 2008AA04Z20 ) ; ( ) ; (309302) : (960 - ),,,, jbzhang@ buaa. edu. cn.

2 54 200,,,,,.,,,.,,,. 6,, a.,, 4,, 3,. 3 2,,. 2.,.,,.,, [ 3 ]., D2H, 4, D2H. a b, [ ],. 2,. 3, D E D E [ 2 ] : S L.,,, ;,.,. 4 D 2H D 2H i a i - i - d i i i [ - /4, /4 ] 2 L /2 0 2 [ - /2, /2 ] 3 L [ - 3 /4, 0 ], A O 2xyz A O P = O T 2 T 3 2 T A 3 P (), O T, 2 T, 3 2 T O 2x y z O 2 xyz, O 2 2x 2 y 2 z 2 O 2x y z, O 3 2x 3 y 3 z 3 O 2 2x 2 y 2 z 2 ; A 3 P A O 3 2x 3 y 3 z 3 a b 2, A 3 P = [L 3, 0, 0, ] T., n, ( ),

5 : n,. 5 30 000, L = 50mm, L 2 = 00mm, L 3 = 200 mm xy.,. 350 mm,, 2, - - 2. [ 0, 0. 4 ], 2 [ 0, 0. 6 ],, 6. 55 6, [ 0, 0. ], [0, 0.

3 5 : n, , L = 50mm, L 2 = 00mm, L 3 = 200 mm xy.,. 350 mm,, 2, [ 0, 0. 4 ], 2 [ 0, 0. 6 ],, , [ 0, 0. ], [0, 0. 3 ],,.,. 5 xy 2. 2,., ,., [ 2 ]. : ) z, n ; 2), x m, ; 3), z,., : x m y,, 3,, ,,, 3,, 6 3..,,,.,,.,. 3., [ 4-5 ],, 7. 7

4 56 200, ( ) R j = S S + a 2 a 2 + S 2 S S j S j (5) T i = [ a ij, S i a ij, S i ] S j = T j- [0, sin j-, j, co s j-, j ] T a j, j+ = T j- [ cos j, cos j, j- sin j, sin j-, j sin j ] T (6) 8 S i, a 2, a 23,, a ij, S i S i, a ij, j, ij. : V H = h = G h V P G p = G H (2), G H ; h ; V P = [ hx, hy, hz ] T = [V Px, V Py, V Pz ] T P ; G h, G p, 3 6 ; = [, 2,, 6 ] T. : h V P = G h = G p G h = [ S, S 2, S 3, S 4, S 5, S 6 ] G p = [ S ( P - R ), S 2 ( P - R 2 ),, S 6 ( P - R 6 ) ] (3) P,,. : S = [ 0, 0, ] T, a 2 = [ cos, sin, 0 ] T. G H : (4), 3, 5. 2 = (G ) H - V H (7),,, 3, 5., 3 ( G H ) -, ( G H ) - 3, (G H ) , 5, 6,, 4, 5, 6 (G ) H - (4) n, ( G ) H - ( 5) n, ( G ) H - ( 6) n : G M = (G M ) - = G M : (G H ) - ( 4) (G H ) - ( 5) (G H ) - ( 6) ( n =, 3, 5 ) (G H ) - ( 6) 5 (8) G M = (G M ) - (9), G M, , S 2, S 2 3, S 3 4, S 4 5, S 5 6, S 6 a 2, 2 a 23, 23 a 34, 34 a 45, 45 a 56, 56 0, 0 90, 0 45, 0-90, 0 45, 0 90, 0 0, 90 0, 90 L 3, 0 L 2, 0 L, , 0 90, 0 45, 0-90, 0 45, 0 90, 0 0, 90 0, 90 L 3, 0 L 2, 0 L, , 0 90, 0 35, 0 90, 0-45, 0 90, 0 0, 90 0, 90 L 3, 0 L 2, 0 L, - 90 (2) (9).,.,. Frobenius, G G M, = C (G ) = tr(g T G ) 3 tr( (G - ) T (G - ) ) (0), [0, ], MATLAB

5 : 57 9. ADAM S 9, [ 0, 0. ], [ 0. 3, 0. 6 ],,,,,.,, 0. 05, 0. 3, 0. 65,,,,. 4 ADAMS,, (DOE, Design Of Experiments). [9 ] F.

5 5 : ADAM S 9, [ 0, 0. ], [ 0. 3, 0. 6 ],,,,,.,, 0. 05, 0. 3, 0. 65,,,,. 4 ADAMS,, (DOE, Design Of Experiments). [9 ] F. F = 6 2L (S x + S y + S z ) + ( < x + < y + < z ) (), S x, S y, S z < x, < y, < z x, y, z 3. [ ], ADAMS, 0., F DOE,. [ 0. 0, 0. 2 ], [ 0. 3, 0. 5 ]., ( ),, F ; , 0. 3, F, ;, F. :, , 0. 3, ,. 5,,,,. ADASMS,,,,,,. ( References) [ ] Bai Shaop ing, Low K H, Guo W eim iao. Kinematographic experi2 ments on leg movements and body trajectories of cockroach walk2 ing on diffent terrain[ C ] / / Proc of IEEE Inter Conf on Robotics and Automation. San Francisco: IEEE, 2000: [ 2 ] Chen W eihai, Yang Guilin, Ho E H L, et al. Interactive motion control of modular reconfigurable manipulators [ C ] / / Inter Conf on Intelligent Robots and System s. Las Vegas: IEEE, 2003: [ 3 ] Gosselin C M, Angeles J. The op timum kinematic design of a p la2 nar 32DOF parallel manipulators[ J ]. ASME Journal ofmechani2 cal Design, 998, 0 () : [ 4 ] Gosselin C M, Angeles J. A global performance index for the ki2 nematic op tim ization of robotic manipulators[ J ]. ASME Journal ofmechanical Design, 99, 3 (3) : ADAM S ( 528 )

6 [ 0 ] Tien T L. The indirect measurement of tensile strength for a higher temperature by the new model IGDMC (, n ) [ J ]. Measurement, 2008, 4 (6) : [ ] Herrmanzinn K, Polzin T. New guidelines to the determ ination of the uncertainty of hardness measurements[ J ]. Tm2Technisches Messen, 2005, 72 (5) : [ 2 ] Roberts S M, Kusiak J,W ithers P J, et al. Numerical p rediction of the development of particle stress in the forging of aluminium metal matrix composites [ J ]. Journal of Material Proceeding Technology, 996, 60 (4) : 7-78 [ 3 ] Sonmez F O, Demir A. Analytical relations between hardness and strain for cold formed parts[ J ]. Journal of Material Pro2 ceeding Technology, 2007, 86 (3) : [ 4 ] RosenbergerM R, Forlerer E, Schvezov C E. Modeling the m i2 cro2indentation of metal matrix composites[ J ]. Material Science Engineering: A, 2007, 463 (2) : [ 5 ] BurcherM R, Noble J A, Han L ianghao. A system for simultane2 ously measuring contact force, ultrasound, and position informa2 tion for use in force2based correction of freehand scanning[ J ]. IEEE Transactions on U ltrasonics, Ferroelectrics, and Frequency Control, 2005, 52 (8) : [ 6 ]. [M ]. :, 2005 W ang Zhongyu. Non2statistical theory and its engineering app li2 cation[m ]. Beijing: Scinece Press, 2005 ( in Chinese) [ 7 ] O tero J, SaizA, B rufau J, et al. Reduced dimensions autonomous AFM system for working in m icrobiorobotics[ C ] / / IEEE /RAS2 EMBS, 2006: [ 8 ] Hu Tie, Desai J P. Soft2tissue material p roperties under large deformation: strain rate effect[ C ] / /The 26 th A IC /EMBS. San Francisco: IEEE, 2004: [ 9 ] A lbrecht H J, Juritza A, Muller K, et al. Interface reactions in microelectronic solder joints and associated intermetallic com2 pounds: an investigation of their mechanical p roperties using nanoindentation[ C ] / /The 5 th Conference on EPT. Singapore: IEEE, 2003: [ 20 ] Deng Julong. Introduction to greyness system theory [ J ]. The Journal of Grey System, 989, () : - 24 ( : ) ( 57 ) [ 5 ] Kumar V. Characterization of workspaces of parallel manipulators [ J ]. ASME Journal ofmechanical Design, 992, 4 (3) : [ 6 ] Xu Q ingsong, L i Yangm in. Kinematic analysis and op tim ization of a new compliant parallel M icromanipulator[ J ]. Inter Journal of Advanced Robotic System s, 2006, 3 (4) : [ 7 ] KircanskiM. Kinematic isotropy and optimal kinematic design of p lanar manipulators and a 32DOF spatial manipulator[ J ]. Inter2 national Journal of Robotic Research, 996, 5 () : 6-77 [ 8 ],,. [ J ]., 2005, 3 (7) : Tang Can, Yun Chao, Luan Sheng. Analysis of kinematics and dexterity for new surgery robot[ J ]. Journal of Beijing University of Aeronautics and A stronautics, 2005, 3 ( 7 ) : ( in Chinese) [ 9 ],,. [ J ]., 998, 9 (3) : Zhao Tieshi, Zhao Yongsheng, Huang Zhen. The flexibility of walking machine im itating a crab [ J ]. China Mechanical Engi2 neering, 998, 9 (3) : ( in Chinese) [ 0 ],,. [ J ]., 2006, 22 ( 4) : 0-2 Han Baoling,W ang Q iuli, Luo Q ingsheng. Mechanical op tim iza2 tion and analyses of hexapod walking bio2robot [ J ]. Machine Design and Research, 2006, 22 (4) : 0-2 ( in Chinese) [ ],. [M ]. :, 2008: Luo Q ingsheng, Han Baoling. The design of modern bionic robot [M ]. Beijing: Publish House of Electronics Industry, 2008: ( in Chinese) [ 2 ]. [ D ]. :, 2004 Cao Yi. Workspace analysis and synthesis of m icrosurgical robot [ D ]. Tianjing: School ofmechanical Engineering, TianjingUni2 versity, 2004 ( in Chinese) [ 3 ]. [ J ]., 2000 ( 4) : Zhang M ing. The simulation research of robot workspace [ J ]. Modern Machinery, 2000 (4) : ( in Chinese) [ 4 ],,. [M ]. :, 997: 9-03 Huang Zhen, Kong L ingfu, Fang Yuefa. Theory and control of mechanism for parallel robotics [ M ]. Beijing: China Machine Press, 997: 9-08 ( in Chinese) [ 5 ]. [ D ]. :, 2005 Sun Lei. Research on the p rototype of crab2like robot [D ]. Har2 bin: College of Mechanical and Electrical Engineering, Harbin Engineering University, 2005 ( in Chinese) ( : )

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