空间单闭链两足步行连杆机构的研究

发布时间：2018-10-29 12:07

【摘要】：本文提出将空间单闭链连杆机构整体用作两足步行机器人的理念。对含R副和C副的空间单闭链四杆和六杆两足步行机构进行了系统化研究,包括理论研究、仿真研究、实验研究及典型案例的应用研究。首先,提出一种空间单闭链四杆RCCR机构的非传统应用,把它用作内外足嵌套布置的新概念两足步行机构。利用机构在奇异位形位置时对两个电机的驱动与控制实现行进与转向运动。进行自由度分析、行走模式分析、运动学分析、足端工作空间分析和稳定性分析。设计、加工制作原理样机并进行了行走实验,验证提出概念的可行性。其次,在空间单闭链四杆RCCR两足步行机构的基础之上,进行横向拓展,通过机构综合法、试凑法、灵感和直觉,提出含有两个转动副和两个圆柱副的空间四杆两足步行机构家族,该家族包含三大类八个构型。提出的构型利用奇异位形实现行走和转向。对每类构型进行了自由度分析、足端工作空间分析、关键要素设计准则制定、运动学分析和稳定性分析。建立了虚拟样机并进行了行走仿真分析,加工制造了四台原理样机验证了所提构型的可行性。然后,在空间单闭链四杆RCCR两足步行机构的基础之上,进行纵向拓展,提出两个新型的空间单闭链六杆机构。分别是空间单闭链六杆RRCRCR和RRCCRR机构,并提出将这两个机构作为两足步行机构,研究工作包括： (1)针对所提出的空间六杆RRCRCR两足步行机构,规划三种行走模式,分别是间断调整行走模式、奇异位置调整行走模式和任意位置调整行走模式。进行自由度分析、足端工作空间分析和行走轨迹分析、运动学分析和稳定性分析,制定两足设计准则。设计制作原理样机验证提出概念的合理性。随后,提出潜在的应用场合并规划和分析了球面和柱面两种操作模式。 (2)提出的空间六杆RRCCRR两足步行机构能通过爬行和翻跟斗两种行走模式到达平面任意位置。接下来,转换到操作模式完成操作任务。进行了自由度分析、行走模式分析、操作模式分析、工作空间分析、运动学分析和稳定性分析。最后,将其应用作为一台两足3T升降机,加工制作两足3T升降机样机并进行行走和操作实验。这是在应用层面,把少用于工业领域的两足机器人用作具有操作能力的步行移动平台的一个新尝试。最后,进行全文总结和展望。探索了一类包含Schatz6R爬行机构和两足Schatz6R滑行机构的单闭链空间六杆Schatz6R移动机构。提出基于Schatz6R(?)爬行机构的组合式移动机构,并对空间单闭链移动连杆机构的应用前景进行展望。
[Abstract]:In this paper, the idea of using spatial single closed linkage mechanism as a biped walking robot is presented. A systematic study on space single closed chain four-bar and six-bar biped walking mechanism with R pair and C pair is carried out, including theoretical research, simulation study, experimental study and application study of typical cases. First of all, a new concept of biped walking mechanism with inner and outer foot nesting is proposed, which is used as a non-traditional application of spatial single-closed-chain four-bar RCCR mechanism. The driving and steering motion of the two motors is realized by the mechanism driving and controlling the two motors in the singular position. Freedom analysis, walking mode analysis, kinematics analysis, foot workspace analysis and stability analysis. Design and manufacture the prototype and carry out the walking experiment to verify the feasibility of the proposed concept. Secondly, on the basis of the spatial single-closed-chain four-bar RCCR biped walking mechanism, the lateral expansion is carried out, through the mechanism synthesis method, the trial method, the inspiration and intuition, A family of spatial four-bar biped walking mechanisms with two rotating pairs and two cylindrical pairs is proposed. The family consists of three classes and eight configurations. The proposed configuration uses singular configurations to realize walking and steering. The degree of freedom analysis, foot workspace analysis, design criteria for key elements, kinematics analysis and stability analysis are carried out for each configuration. The virtual prototype was established and the walking simulation was carried out. Four principle prototypes were manufactured to verify the feasibility of the proposed configuration. Then, based on the RCCR biped walking mechanism of space single closed chain, two new space single closed chain six bar mechanisms are proposed. The spatial single-link six-bar RRCRCR and the RRCCRR mechanism are proposed as biped walking mechanisms. The research work includes: (1) for the proposed spatial six-bar RRCRCR biped walking mechanism, three walking modes are planned. They are intermittent adjusting walking mode, singular position adjusting walking mode and arbitrary position adjusting walking mode. The degree of freedom analysis, foot workspace analysis and walking track analysis, kinematics analysis and stability analysis are carried out, and biped design criteria are established. The design and manufacture principle prototype verifies the rationality of the proposed concept. Then, the potential applications are proposed and two operation modes, spherical and cylindrical, are planned and analyzed. (2) the spatial six-bar RRCCRR biped walking mechanism can reach any position of the plane through two walking modes of crawling and somersault. Next, switch to operation mode to complete the operation task. Freedom analysis, walking mode analysis, operation mode analysis, workspace analysis, kinematics analysis and stability analysis are carried out. Finally, it is used as a bipedal 3T lift, and the prototype of biped 3T elevator is manufactured, and the walking and operation experiments are carried out. This is a new attempt to use biped robot, which is rarely used in industry, as a walking mobile platform with operational ability. Finally, the full text is summarized and prospected. A class of six-bar Schatz6R moving mechanism with single closed chain space including Schatz6R crawling mechanism and biped Schatz6R glide mechanism is investigated. Based on Schatz6R (?) The combined moving mechanism of crawling mechanism and the prospect of application of spatial single closed chain moving linkage mechanism are prospected.
【学位授予单位】：北京交通大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TH112

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