四轮移动机器人机动性研究

发布时间：2018-04-17 08:12

本文选题：四轮移动机器人 + 时效性　；参考：《安徽工程大学》2017年硕士论文

【摘要】：四轮移动机器人主要用于生产车间和仓库之间的物流输送,鉴于生产车间与仓库的环境复杂、通道狭窄,对四轮移动机器人的机动性提出了比较高的要求。针对四轮移动机器人机动性研究只出现在零散的文献中,没有系统的研究成果,本文针对通过性、灵活性、时效性三个方面来对四轮移动机器人的机动性展开研究。本文的主要研究内容如下:(1)根据四轮移动机器人运动特征,以及转向原理,结合车间及仓库作业环境特征,本文选用转弯半径、过弯道最小时间、复杂路况的通过能力等特征参数,基于四轮移动机器人的运动学原理和动力学原理定义四轮移动机器人的机动性。(2)通过对比几种典型四轮移动机器人结构模型的机动性特点,基于研究对象的代表性和适用性等因素,选取研究对象的机构类型;根据研究对象的机构类型来建模,并阐述建模过程中关键零部件的选型依据及过程。(3)通过对四轮移动机器人运动特性的分析,建立四轮移动机器人的动力学方程和运动学方程,求解与分析四轮移动机器人转弯半径,得到一个准确系统的四轮移动机器人转弯半径的动态方程。通过控制特定变量的方式,分析四轮移动机器人转弯半径的特性,并举例来证明分析结果的准确性。(4)为考察四轮移动机器人通过弯道时间的最小值,本文对比几种典型的路况构造特定弯道。通过分析和研究四轮移动机器人通过弯道的特定极限情况,建立四轮移动机器人通过弯道的几个动态方程,展开四轮移动机器人通过弯道时间最小值分析与研究。(5)通过选取典型的复杂路况,构造具有代表性的路况条件,建立四轮移动机器人通过此路况的运动学方程,以此考察四轮移动机器人通过复杂路况的灵活性。(6)通过构造转向模型,用Simlink对转向系统进行仿真,对比几种转向控制系统,验证四轮移动机器人的具备在高速与低速下,具备平稳通过弯道的能力。
[Abstract]:The four-wheeled mobile robot is mainly used in the logistics transportation between the production workshop and the warehouse. In view of the complex environment and narrow channel of the production workshop and warehouse, the mobility of the four-wheeled mobile robot is required.In view of the four-wheeled mobile robot mobility research only appears in the scattered literature, there is no systematic research results, this paper focuses on three aspects of mobility, flexibility, timeliness to research the mobility of four-wheeled mobile robot.The main research contents of this paper are as follows: (1) according to the motion characteristics and steering principle of the four-wheel mobile robot, combined with the characteristics of workshop and warehouse working environment, this paper selects the turning radius and the minimum time to cross the bend.Based on the kinematics and dynamics principles of the four-wheeled mobile robot, the mobility of the four-wheeled mobile robot is defined by comparing the mobility characteristics of several typical four-wheeled mobile robot structure models.Based on the representativeness and applicability of the research object, the mechanism type of the research object is selected, and the model is built according to the mechanism type of the research object.The selection basis and process of the key parts in the modeling process are described. By analyzing the kinematic characteristics of the four-wheel mobile robot, the dynamic equations and kinematics equations of the four-wheel mobile robot are established.The turning radius of four-wheel mobile robot is solved and analyzed, and a dynamic equation of turning radius of four-wheel mobile robot is obtained.By controlling certain variables, the characteristics of turning radius of four-wheel mobile robot are analyzed, and an example is given to prove the accuracy of the analysis results.This paper compares several typical road conditions with specific curves.By analyzing and studying the specific limit of the four-wheeled mobile robot passing through the bend, several dynamic equations of the four-wheeled mobile robot passing through the bend are established.Analysis and study on the minimum time of the four-wheeled mobile robot passing through the bend. The kinematics equation of the four-wheeled mobile robot passing through the road condition is established by selecting the typical complex road condition and constructing the representative condition of the road condition.In this way, the flexibility of the four-wheeled mobile robot through complex road conditions is investigated. By constructing the steering model, the steering system is simulated with Simlink, and several steering control systems are compared to verify that the four-wheeled mobile robot is equipped at high speed and low speed.Have the ability to pass smoothly through the bend.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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