基于URU链的四面体移动机构理论与实验研究
发布时间：2019-01-03 13:20
【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,通过对几何四面体的研究,设计出基于URU链的可变形四面体连杆移动机构。 首先对URU链的构型进行了探讨,分析了R副轴线与U副轴线平行与正交两种情形提供的运动约束；对基于两种URU链的四面体构型进行了对比分析,包括虎克铰的初始安装角度、构型的自由度分析、机构的运动模式,确定了研究对象；为验证所提构型的可行性,分析了机构的运动原理,从运动学角度对机构进行了理论计算。 然后对该移动机构进行虚拟样机建模,进行了运动学与动力学仿真分析,仿真结果与理论分析相符合,证明了理论分析的正确性。 最后,根据该机构的特点设计了机构的控制方案,对移动机构的主要零部件进行了选型和设计加工,同时设计出了模块化的URU链。制作出样机,进行了试验研究,实现了预期的移动功能。通过与美国国家航空航天局(NASA)研制的TET-walker星球探测机器人的对比,对机构的性能进行了初步的判定。 本文工作将为多面体类移动机构的后续研究和发展提供理论和设计基础。
[Abstract]:With the development of human exploration on the ground and space environment, the design of a new high-performance mobile robot has become a frontier problem in many countries. Conventional mobile robots mainly include wheel type, leg type, crawler type and so on, but because of their own structural characteristics, they have their own limitations in the detection environment. At present, the space detection robot mainly adopts the wheeled mobile mode, and the reset function of the robot after capsizing is not good. The purpose of this paper is to design a deformable tetrahedron linkage moving mechanism based on URU chain through the study of geometric tetrahedron. Firstly, the configuration of the URU chain is discussed, and the motion constraints provided by the parallel and orthogonal conditions of the R and U axes are analyzed. The tetrahedron configuration based on two URU chains is compared and analyzed, including the initial installation angle of Hook hinge, the analysis of the degree of freedom of the configuration, the movement mode of the mechanism, and the research object is determined. In order to verify the feasibility of the proposed configuration, the kinematic principle of the mechanism is analyzed, and the mechanism is calculated theoretically from the point of view of kinematics. Then the virtual prototype model of the mobile mechanism is built, and the kinematics and dynamics simulation analysis is carried out. The simulation results are in agreement with the theoretical analysis, which proves the correctness of the theoretical analysis. Finally, according to the characteristics of the mechanism, the control scheme of the mechanism is designed, the main parts of the mobile mechanism are selected and processed, and the modular URU chain is designed. The prototype is made and the experimental research is carried out, and the expected moving function is realized. The performance of the mechanism is preliminarily determined by comparing it with the TET-walker planetary probe robot developed by NASA (NASA). This work will provide 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】：2012
【分类号】：TH112.1
本文编号：2399426
[Abstract]:With the development of human exploration on the ground and space environment, the design of a new high-performance mobile robot has become a frontier problem in many countries. Conventional mobile robots mainly include wheel type, leg type, crawler type and so on, but because of their own structural characteristics, they have their own limitations in the detection environment. At present, the space detection robot mainly adopts the wheeled mobile mode, and the reset function of the robot after capsizing is not good. The purpose of this paper is to design a deformable tetrahedron linkage moving mechanism based on URU chain through the study of geometric tetrahedron. Firstly, the configuration of the URU chain is discussed, and the motion constraints provided by the parallel and orthogonal conditions of the R and U axes are analyzed. The tetrahedron configuration based on two URU chains is compared and analyzed, including the initial installation angle of Hook hinge, the analysis of the degree of freedom of the configuration, the movement mode of the mechanism, and the research object is determined. In order to verify the feasibility of the proposed configuration, the kinematic principle of the mechanism is analyzed, and the mechanism is calculated theoretically from the point of view of kinematics. Then the virtual prototype model of the mobile mechanism is built, and the kinematics and dynamics simulation analysis is carried out. The simulation results are in agreement with the theoretical analysis, which proves the correctness of the theoretical analysis. Finally, according to the characteristics of the mechanism, the control scheme of the mechanism is designed, the main parts of the mobile mechanism are selected and processed, and the modular URU chain is designed. The prototype is made and the experimental research is carried out, and the expected moving function is realized. The performance of the mechanism is preliminarily determined by comparing it with the TET-walker planetary probe robot developed by NASA (NASA). This work will provide 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】：2012
【分类号】：TH112.1
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，本文编号：2399426
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