轮履复合式反恐机器人系统设计及动力学仿真

发布时间：2019-03-04 18:01

【摘要】：现阶段境内外民族分裂和宗教极端势力活动频繁,我国遭受恐怖主义袭击的现实可能性增加。恐怖活动不仅对人民群众的生命财产构成威胁,而且对国家的政治、经济和社会发展造成巨大影响,严重影响区域稳定与发展,给社会造成无法估量的后果。在这种形势下,反恐机器人应运而生,反恐机器人可以安全的实现危险物的转移、爆破以及打击恐怖活动等,从而减少人员伤亡和财产损失,可以广泛应用于军事、消防、公共安全等场合。本课题研究的目标是设计一款轮履复合式的反恐排爆机器人,机器人行走机构采用轮式和履带式相结合的方式,在平地上采用轮式机构行走,在越障及攀爬楼梯时采用轮履复合式机构行走。将两种行走机构的优点结合起来,既能使机器人在平地上行走速度快、操纵灵活,又能适应各种复杂的地面环境。首先,分析国内外反恐机器人研究发展现状,了解各种机器人工作环境以及能够实现的任务,并对轮式移动平台和履带式移动平台做了详细分析。针对轮式机构在平坦地面上运动性能突出,履带式机构在复杂地面运动具有优越性等特点,将两种机构巧妙的结合起来,在运动过程中轮式和履带式机构交替使用,从而设计出一种新型轮履复合式机构方案。接下来进行轮履复合式机器人移动平台结构设计,建立零件三维模型确定各零部件详细尺寸参数,并对关键零部件进行有限元分析确保其可靠性。进一步对机器人移动平台的运动学进行理论分析,为样机研制及实验提供基础。然后完成机器人虚拟样机装配并进行机构动力学仿真研究,利用PROE软件建立机器人简化模型,导入ADAMS软件,在ADAMS中创建虚拟样机模型,进而对机器人的爬坡、越障、攀爬楼梯等运动进行仿真分析,得出机器人相应运动部件动力学仿真曲线。最后,完成机器人各部分零部件加工和样机装配,样机装配完成后进行机器人实验,主要对其在不同环境下的运行状态进行实验验证,监测运动性能,并对理论预期结果与实验结果进行对比研究,进而对模型进行校对与修正。
[Abstract]:At present, ethnic division and religious extremist activities are frequent at home and abroad, and the realistic possibility of our country being attacked by terrorism is increasing. Terrorist activities not only pose a threat to the lives and property of the people, but also have a great impact on the political, economic and social development of the country, seriously affecting regional stability and development, and causing immeasurable consequences to the society. In this situation, counter-terrorism robots emerge as the times require. Counter-terrorism robots can safely transfer dangerous materials, blow up and combat terrorist activities, so as to reduce casualties and property losses, and can be widely used in military and fire fighting. Public safety, etc. The goal of this research is to design a composite anti-terrorist explosive robot with wheels and tracks. The robot walking mechanism adopts wheel-type and crawler-type combination, and uses wheel-type mechanism to walk on the flat ground. When crossing the barrier and climbing the stairs, use the wheel-track compound mechanism to walk. Combining the advantages of the two kinds of walking mechanism, the robot can not only make the robot walk fast on the flat ground, but also adapt to all kinds of complicated ground environment. Firstly, the research and development status of counter-terrorism robot at home and abroad is analyzed, and the working environment of various robots and the tasks that can be realized are understood, and the wheeled mobile platform and crawler mobile platform are analyzed in detail. In view of the outstanding motion performance of wheel mechanism on flat ground and the superiority of crawler mechanism in complex ground movement, the two mechanisms are skillfully combined and used alternately between wheel type and track mechanism in the course of movement. Thus a new type of wheel-track composite mechanism scheme is designed. Then, the structure design of the mobile platform of the wheel-track composite robot is carried out, the 3D model of the parts is established to determine the detailed dimension parameters of the parts, and the finite element analysis is carried out to ensure the reliability of the key parts. Furthermore, the kinematics of the robot mobile platform is analyzed theoretically, which provides the basis for the development and experiment of the prototype. Then the virtual prototype of the robot is assembled and the mechanism dynamics simulation is carried out. The simplified model of the robot is established by using the PROE software, the ADAMS software is imported, and the virtual prototype model is created in the ADAMS, and then the climbing of the robot is overcome, and the obstacle is overcome. The dynamic simulation curves of the corresponding moving parts of the robot are obtained by simulation and analysis of climbing stairs and so on. Finally, the parts and components of the robot are processed and the prototype assembly is completed. After the assembly of the prototype, the robot experiment is carried out, which mainly verifies the running state of the robot in different environments, and monitors the motion performance. The theoretical expected results are compared with the experimental results, and then the model is corrected and corrected.
【学位授予单位】：上海工程技术大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

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