双四足差动驱动步行车辆的研究

发布时间：2018-12-12 13:33

【摘要】：与众多其它种类的移动车辆相比,步行车辆向来以其机动性、地形适应能力见长,但现有步行机器人由于腿机构自由度较多导致控制系统复杂,在复杂地形的可靠性及负载能力受到限制,而单自由度的腿机构的控制系统简单,运行的可靠性及抗干扰能力较强,通过提高唯一的驱动电机功率来提高负载能力则相对较易实现,而且通过杆长优化即可提高越障能力本文通过对国内外单自由度腿机构的研究,利用颜氏机构创造性设计法对现有的八杆及六杆腿机构进行了构型分析研究,得到十余种新型单自由度腿机构,对其中一组足端轨迹较优的腿机构进行了分析及优化。本文提出一种双四足差动步行车辆,其腿机构采用较成熟的一种八杆十副方案,整车自由度为2,用两台驱动电机即可实现行走及转向,并讨论了其整体布置方案及相应的车辆性能,提出了各种方案都通用的一般性分析方法。在关于腿式差速转向的假设的前提下对车辆的差速转向进行了运动学分析,并通过仿真分析验证了分析模型的正确性,为差速转向的控制策略的制定提供了依据。通过对车辆的动力学仿真分析,发现驱动电机的扭矩冲击现象,通过配置弹簧缓冲器及优选足端轨迹的方法对扭矩冲击的改善起到了一定的作用,并总结出弹簧配置的通用方法及评估指标,利用此方法分别对八杆十副方案及六杆七副方案分别进行了分析。本文还从方案的工程性角度进行了平面腿机构扩展为三维实体的层次排列设计,进行了零部件的结构设计,关键零部件的强度校核,验证了各个零件初始设计均满足强度要求,并对某些强度过剩零件进行了结构优化,对样机进行了加工装配,初步实验,并对其后续实验提出了几种实验方案。
[Abstract]:Compared with many other kinds of mobile vehicles, walking vehicles are always characterized by their maneuverability and terrain adaptability. However, the existing walking robots have complex control systems due to the greater degree of freedom of the legs. In complex terrain, the reliability and load capacity are limited, and the control system of the single degree of freedom leg mechanism is simple, the reliability of operation and anti-interference ability is strong. It is relatively easy to improve the load capacity by increasing the power of the only driving motor, and the obstacle surmounting ability can be improved by optimizing the length of the rod. In this paper, the research on the single degree of freedom leg mechanism at home and abroad is carried out. By using the creative design method of Yan's mechanism, the configuration of the existing eight-bar and six-bar leg mechanisms is analyzed and studied. More than ten kinds of new single-degree-of-freedom leg mechanisms are obtained, and one group of leg mechanisms with better foot trajectory is analyzed and optimized. In this paper, a double quadruped differential walking vehicle is proposed. Its leg mechanism adopts a more mature scheme of eight rods and ten pairs, and the degree of freedom of the whole vehicle is 2. With two driving motors, the walking and steering can be realized. The overall layout scheme and the corresponding vehicle performance are discussed, and a general analysis method for all kinds of schemes is put forward. Based on the hypothesis of leg differential steering, the kinematics analysis of differential steering is carried out, and the correctness of the analysis model is verified by simulation analysis, which provides a basis for the formulation of differential steering control strategy. Through the dynamic simulation analysis of the vehicle, it is found that the torque impact phenomenon of the driving motor is found, and the method of installing the spring buffer and selecting the trajectory of the foot end plays a certain role in improving the torque impact. The general method and evaluation index of spring collocation are summarized, and the eight bar ten and six bar seven pair schemes are analyzed respectively by using this method. In this paper, from the view of the project engineering, the plane leg mechanism is extended to three dimensional solid hierarchical arrangement design, the structural design of the components is carried out, the strength of the key parts is checked, and it is verified that the initial design of each part meets the strength requirements. The structure of some parts with excess strength is optimized, the prototype is processed and assembled, the preliminary experiment is carried out, and several experimental schemes are put forward for the subsequent experiments.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112.1

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