转动副驱动多面体移动连杆机构研究

发布时间：2018-03-11 13:35

本文选题：空间连杆机构　切入点：移动机器人　出处：《北京交通大学》2011年硕士论文　论文类型：学位论文

【摘要】：随着人类对地面和空间环境探测进程的不断深入,设计新型高性能探测移动机器人成为各国研究的前沿问题。常规移动机器人主要包括轮式、腿式、履带式等,但由于自身结构的特点,在探测环境中具有各自的局限性。目前空间探测机器人主要采用轮式移动方式,机器人在翻覆后的复位功能欠佳。本文的研究目的在于,通过研究几何多面体,设计出转动副驱动的多面体式移动机构。首先,基于空间几何多面体的设计思路,研究了双三角锥移动机构的运动特性和实现条件。采用转动副驱动,实现的技术难度低,变形姿态和运动方式多样；且可以进行扩展和组合,形成更为复杂和多样的机构群组。此外,空间探测器的存储空间有限,该类机构具有较好的对称性和体积缩放性能,在运输过程中可以节省空间。针对其移动路径,提出了一种控制的方法。进行了软件仿真,并制作了样机,验证了机构移动和控制方法的可行性。其次,提出了一种三棱柱式移动机构,其由三组平面连杆机构组成,建立起了一种从平面机构到空间机构的过渡方式。三棱柱机构可以通过调节各组平面机构的形状来实现机构的移动和转向功能。最后,对四面体移动机构的构型进行了分析和设计,对全R副16杆机构的运动步态进行了研究和运动仿真,验证了运动功能。对R副和U副混合的四面体机构进行运动特性分析,发现由URU支链组成的机构具有较好的运动性能。分析了四面体机构较为通用的移动步态。对URU支链的四面体机构进行了结构设计。本文工作为多面体类移动机构的后续研究和发展提供了理论和设计基础。
[Abstract]:With the continuous development of human exploration on the ground and space environment, the design of new high-performance mobile robot has become a frontier problem in many countries. The conventional mobile robot mainly includes wheeled, legged, crawler and so on. However, due to the characteristics of its own structure, it has its own limitations in the detection environment. At present, the space detection robot mainly adopts wheeled mobile mode, and the reset function of the robot after capsizing is not good. By studying geometric polyhedron, a polyhedron moving mechanism driven by rotating pair is designed. Firstly, based on the design idea of spatial geometry polyhedron, the motion characteristics and realization conditions of double triangular cone moving mechanism are studied. In addition, the space detector has limited storage space, and this kind of mechanism has better symmetry and volume scaling performance. In the process of transportation, the space can be saved. A control method is proposed for its moving path. The software simulation is carried out, and the prototype is made to verify the feasibility of the mechanism movement and control method. Secondly, a three-prism moving mechanism is proposed, which is composed of three groups of planar linkage mechanisms. A transition mode from plane mechanism to space mechanism is established. The three-prism mechanism can realize the function of moving and steering by adjusting the shape of each set of planar mechanisms. Finally, the configuration of the tetrahedron moving mechanism is analyzed and designed, and the motion gait of the all-R pair 16-bar mechanism is studied and simulated. The motion function is verified. The motion characteristics of the tetrahedron mechanism mixed with R pair and U pair are analyzed. It is found that the mechanism composed of URU branch chain has better kinematic performance. The general moving gait of tetrahedron mechanism is analyzed. The structure of tetrahedron mechanism of URU branch chain is designed. The work in this paper provides a theoretical and design basis for the further research and development of polyhedron mobile mechanism.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112.1

【引证文献】