移动连杆机构的类型及其模块化设计的研究

发布时间：2018-04-27 22:08

本文选题：运动链 + 连杆机构　；参考：《北京交通大学》2011年硕士论文

【摘要】：本文在研究机构学、机器人学的理论与技术的基础上,分析运动链的运动特点,拓展传统连杆机构的应用领域,结合现代移动机器人的功能需求,将平面和空间连杆机构用作移动机器人的机构本体,设计整体闭链的平面与空间移动机构,分析其运动性能。首先,通过归纳某特定种类移动机构的结构特点,提出一种获得具有滚动性能的平面运动链的方法；并采用这种方法提出二十多种可能具有滚动性能的平面运动链；针对这些运动链设计了三种平面移动机构；对其进行机构运动原理分析,步态规划,并通过ADMAS运动仿真验证其运动原理。其次,提出一种形成空间多闭环移动连杆机构的方法,即平面运动链正交组合方法,采用该方法共设计了三种空间移动机构；提出了另一种形成空间多闭环移动连杆机构的方法,即平面运动链三维组合方法,采用该方法共设计了四种空间多面体移动机构,并对该类机构的设计提供了拓展的方法与总结。再次,提出了内驱动机构的概念,并运用本文中提出的三种可翻滚平面运动链成功设计了两种双摇杆驱动机构和一种曲柄摇杆驱动机构,同时运用平面运动链正交组合的方法设计了一种空间8U驱动移动机构。最后,通过对平面和空间连杆机构中杆件结构作分析,分别对平面连杆机构和空间连杆机构做模块化设计,并加入驱动模块实现移动机构的模块化设计。运用本文设计的连杆模块组装本文提出的移动机构,验证设计原理。本文将为开发创新型移动机构提供了一种新的设计方法和相关理论基础,同时为平面和空间连杆移动机构模块化提供了方案实例和技术借鉴。
[Abstract]:On the basis of studying the theory and technology of mechanism and robotics, this paper analyzes the kinematic characteristics of the kinematic chain, expands the application field of the traditional linkage mechanism, and combines the functional requirements of the modern mobile robot. The planar and spatial linkage mechanism is used as the mechanism body of the mobile robot. The planar and spatial moving mechanism of the whole closed chain is designed and its motion performance is analyzed. Firstly, by summarizing the structural characteristics of a certain kind of moving mechanism, a method of obtaining planar kinematic chains with rolling performance is proposed, and more than 20 kinds of planar kinematic chains with rolling performance are proposed by using this method. Three kinds of planar moving mechanisms are designed for these kinematic chains, and their kinematic principle is analyzed, gait planning is carried out, and their motion principle is verified by ADMAS motion simulation. Secondly, a method of forming spatial multi-closed-loop moving linkage mechanism, namely the orthogonal combination method of planar kinematic chain, is proposed, and three kinds of spatial moving mechanism are designed by using this method. In this paper, another method of forming spatial multi-closed loop moving linkage mechanism, namely three-dimensional combination method of planar kinematic chain, is proposed. Four kinds of spatial polyhedron moving mechanism are designed by using this method. It also provides the method and summary for the design of this kind of mechanism. Thirdly, the concept of internal driving mechanism is put forward, and two kinds of double rocker driving mechanism and one kind of crank rocker driving mechanism are successfully designed by using the three rolling planar kinematic chains proposed in this paper. At the same time, a spatial 8 U driving moving mechanism is designed by using the method of orthogonal combination of planar kinematic chains. Finally, the modular design of the planar linkage mechanism and the spatial linkage mechanism is made by analyzing the structure of the bar in the planar and spatial linkage mechanism, and the modular design of the moving mechanism is realized by adding the driving module. Using the connecting rod module designed in this paper to assemble the mobile mechanism proposed in this paper and verify the design principle. This paper will provide a new design method and related theoretical basis for the development of innovative mobile mechanism. At the same time, it will provide a scheme example and technical reference for the modularization of planar and spatial linkage 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

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