多模式步滚移动两足并联机构的研究

发布时间：2018-03-22 16:52

  本文选题：并联机构　切入点：两足步行机构　出处：《北京交通大学》2014年博士论文　论文类型：学位论文

【摘要】：摘要：本文提出移动模式与操作模式集成的多模式移动并联机构的设计理念。基于该设计理念,以提高机构的承载能力与复杂地形通过能力为目标,定义并提炼出四类移动模式与两类操作模式,进而形成模式集成方法,构建含有U-P-U(万向铰-移动副-万向铰)支链与U-R-U(万向铰.转动副.万向铰)支链的多模式步滚移动两足并联机构,并作为典型构型进行系统性研究,包括：理论分析、仿真分析、样机研制与实验研究。 首先将4U平行四边形机构、6U机构、3-UPU并联机构作为研究基础；然后提出多模式步滚移动两足4-UPU并联机构,并作为核心研究；最后以具体应用为导向提出两足步行2-UPU+2-UU并联机构；以拓展操作模式与移动模式为目的提出多模式步滚移动两足4-URU并联机构。主要研究内容包括： (1)针对三种两足步行4U平行四边形机构进行比较分析,总结由运动副配置方法不同带来的构型之间的区别与联系,进而拓展提出一种两足步行4U平行四边形构型。针对提出的滚动6U并联机构进行滚动原理分析,采用不同运动副配置方案得到两种滚动6U并联机构的拓展构型。进一步采用不同运动链的配置方案,提出多模式滚动3-UPU并联机构。结合自由度与奇异位置分析,研究四种滚动模式具体实现方式与切换方案,并讨论由支链变化带来的步长变化对滚动能力的影响。 (2)集成移动与操作两种功能模式提出多模式步滚移动两足4-UPU并联机构,并分别研究了三类移动模式与两类操作模式。在移动模式中讨论驱动方案、模式切换、转向操作、步态特点等方面。在操作模式中分析姿态调整、重心调整、与地面的贴合等固定式操作模式；同时研究了整体协同式操作模式对移动模式的辅助功能,如：侧翻自救功能与倾覆复位功能。此外,结合机构特性讨论步长与速度之间的关系,并针对典型障碍,分析了机构的越障性能。 (3)以承载运输为主要用途,综合考虑并联机构的高刚度和承载能力,以及机构对崎岖路面适应能力的要求,提出具有承载能力的两足步行2-UPU+2-UU并联机构。结合机构的运动特性与两足的承载空间要求,确定两足结构设计参数之间的函数关系式。研究采用类似爬行步态条件下驱动力与结构参数的关系,并进一步分析得出该机构类似爬行的步态比采用常规步行的步态对驱动力的要求显著降低。 (4)根据多模式步滚移动两足4-UPU并联机构的构型特点,总结构型设计需要满足的条件,采用不同支链类型构造该类机构,并尝试进一步拓展操作模式与移动模式功能。以多模式步滚移动两足4-URU并联机构为例,分析其具有的四足跳跃模式与剪叉升降平台操作模式。 综合而言,基于提出移动模式与操作模式集成的多模式移动并联机构的设计理念,进行了系统性研究,为具有较大承载能力与较高复杂地形通过能力的移动机器人设计提供一类新的技术途径。
[Abstract]:Abstract: This paper puts forward the design idea of mobile mode and operation mode of integrated multi mode mobile parallel mechanism. Based on the design concept, to improve the bearing capacity mechanism and complex terrain by ability as the goal, to define and extract four types of mobile mode and the two mode of operation, and the formation of model integration method to construct U-P-U (universal hinge moving pair of universal joint) and U-R-U (universal hinge chain. Rotation pair. Universal joint) MULTI BRANCHED rolling mode step mobile biped parallel mechanism, and as a typical configuration of system, including: theoretical analysis, simulation analysis, experiment study and development of the prototype.
The first 4U parallelogram mechanism, 6U mechanism, 3-UPU parallel mechanism as the research foundation; and then put forward the multi step rolling mode mobile biped 4-UPU parallel mechanism, and as the core research; finally on the specific application oriented of biped walking 2-UPU+2-UU parallel mechanism; to expand the operation mode and mode for the purpose of the mobile multi mode mobile biped rolling step the 4-URU parallel mechanism. The main research contents include:
(1) for the three kinds of biped walking 4U parallelogram mechanism for comparative analysis, summarize the differences and connections between different pairs by bring configuration method of configuration, and then expand a biped walking 4U parallelogram structure. According to the proposed 6U parallel mechanism for rolling rolling principle analysis, using different motion scheme expand the configuration of two kinds of rolling 6U parallel mechanism. The different configurations of the kinematic chain, put forward multi mode rolling 3-UPU parallel mechanism. The combination of freedom and singularity analysis, four kinds of rolling mode realization mode and switching scheme with the body, and discuss the effect of step change brought by the change of rolling ability of the branched chain.
(2) mobile integrated two functions and operation mode put forward multi mode step rolling mobile 4-UPU parallel mechanism and two, respectively for three kinds of mobile mode and the two mode of operation. To discuss the driving scheme in mobile mode, mode switching, steering operation, gait characteristics etc. in the operation of the attitude adjustment, mode the focus of the adjustment and the ground stationary operation mode; at the same time on the overall coordination of auxiliary functions, the mobile mode operation mode such as: rollover self-help function and the function of reset overturned. In addition, combined with the characteristic of mechanism to discuss the relationship between step size and speed, and for the typical obstacle, obstacle performance mechanism was analysis.
(3) to transport as the main purpose, considering the parallel mechanism with high rigidity and bearing capacity, and the ability to adapt to the requirements of the rugged road, put forward with the carrying capacity of the biped walking 2-UPU+2-UU parallel mechanism. Combined with the motion characteristics of the bearing and biped mechanism space requirements, determine the function relationship between the biped structure design study on the relationship between the parameters and structure parameters. Under the condition of similar crawl gait driving force, and further analyzed the mechanism similar to crawl gait than conventional walking gait of the driving force is significantly reduced.
(4) according to the structure characteristics of multi step rolling mode mobile biped 4-UPU parallel mechanism, summarizes the design needs to meet the conditions, using different types of branched chain structure of this kind of mechanism, and try to further expand the operation mode and mobile mode. In multi-mode mobile step roll 4-URU parallel mechanism biped as an example, the paper analyzed its quadruped jumping fork lifting platform mode and operation mode.
In general, based on the design concept of mobile multi-mode mobile parallel mechanism which integrates mobile mode and operation mode, a systematic research is carried out, which provides a new technology way for mobile robot design with large carrying capacity and high complex terrain.

【学位授予单位】：北京交通大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TH112

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