小型轮式双面行驶无人侦察平台设计与研究

发布时间：2018-01-17 14:29

本文关键词：小型轮式双面行驶无人侦察平台设计与研究　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：在反恐侦察活动中,为了减少士兵的伤亡,且又能快速确定目标区里情报,需要设计一种移动侦察平台,其大小方便士兵携带,具有快速通过平地的能力,一定的爬坡及攀越障碍的能力,翻车后能够继续执行任务的能力,一定范围内的视频图像实时采集与传输能力;本文以此为背景,设计了小型轮式双面行驶无人侦察平台。首先,分析国内外军用反恐机器人的研究发展现状,根据技术指标要求制定了总体设计方案,将行星轮系引入小型轮式双面行驶无人侦察平台的行走机构设计中;提出并设计了一种车身提升机构;在设计过程中利用ANSYS Workbench对关键部件进行了有限元分析。对已完成结构设计的无人侦察平台进行了运动学和动力学建模分析,对其平面运动学建模,并给出了其运动状态方程,对行星轮系的轮胎滑移约束、地面力学进行了建模分析,对其侧翻角、最大爬坡角进行了分析,对越障过程进行了分析,对其进行了动力学建模。对无人侦察平台控制系统与图像采集传输系统进行了设计,首先分析了无人侦察平台的运动控制原理,然后分析了二维侦察转台的舵机控制方法,接着分析了提升机构的控制方法,最后分析了无人侦察平台翻车后其图像旋转的算法,图像处理过程以及各个芯片的作用。对无人侦察平台爬坡、复杂路面、越障等运动进行了 ADAMS/View动力学仿真,得到了在这几种运动形式下的位移、速度、加速度曲线以及驱动力矩曲线,并对这些曲线进行了分析,为样机的测试及后期优化提供依据,最后,对无人侦察平台样机进行了实况测试,测试结果显示各项指标符合设计要求,同时也表明了双面行驶侦察平台具有良好的机动性与环境适应性。
[Abstract]:In anti-terrorist reconnaissance activities, in order to reduce the casualties of soldiers and quickly determine the intelligence in the target area, it is necessary to design a mobile reconnaissance platform, which is convenient for soldiers to carry, and has the ability to pass through flat ground quickly. The ability of climbing and climbing obstacles, the ability to continue to perform tasks after overturning, and the ability to capture and transmit video images in real time in a certain range; In this paper, a small wheeled unmanned reconnaissance platform is designed. Firstly, the research and development status of military anti-terrorist robot at home and abroad is analyzed, and the overall design scheme is established according to the technical requirements. The planetary gear train is introduced into the design of the walking mechanism of the small wheel-type double-sided unmanned reconnaissance platform. A kind of body lifting mechanism is proposed and designed. In the process of design, the finite element analysis of key components is carried out by ANSYS Workbench, and kinematics and dynamics modeling of unmanned reconnaissance platform which has been designed has been carried out. The plane kinematics model is modeled, and the state equation of motion is given. The tire slip constraint and ground mechanics of planetary gear train are modeled and analyzed. The roll angle and the maximum climbing angle are analyzed. The control system of unmanned reconnaissance platform and the image acquisition and transmission system are designed. Firstly, the motion control principle of unmanned reconnaissance platform is analyzed. Then, the control method of the steering gear of the two-dimensional reconnaissance turntable is analyzed, and the control method of the lifting mechanism is analyzed. Finally, the image rotation algorithm of the unmanned reconnaissance platform after overturning is analyzed. Image processing process and the role of each chip. The unmanned reconnaissance platform climbing, complex road, obstacle and other movements are simulated by ADAMS/View dynamics. The displacement, velocity, acceleration and driving moment curves are obtained in these motion forms, and these curves are analyzed to provide the basis for the test and later optimization of the prototype. The prototype of unmanned reconnaissance platform is tested. The test results show that each index meets the design requirements, and it also shows that the platform has good maneuverability and environmental adaptability.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TJ5;TP242

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