轮腿式六足侦查机器人设计与分析

发布时间：2018-01-17 14:30

本文关键词：轮腿式六足侦查机器人设计与分析　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：轮腿式机器人作为当今智能机器人发展的一个重要分支,有着广阔的研究空间和应用前景。本文在分析和总结国内外研究成果的基础上,设计了一种兼具腿式和轮式功能的新型轮腿式六足侦查机器人,并围绕该机器人的结构设计、运动学及动力学分析、步态规划和稳定性探讨等内容开展了研究工作。本文提出了轮腿式六足侦查机器人的总体方案,完成了该机器人的框架结构、轮腿结构、侦查模块的设计及三维模型的建立,重点描述了轮腿构成、自锁方式和轮—腿模式转换原理。建立了关重件轮腿的有限元模型,进而对轮腿进行了静力学应力、应变分析以及模态分析,初步验证了轮腿设计的合理性。基于轮腿的构型和参数,建立了机器人三足步态下的运动学模型和动力学模型;通过三足步态仿真研究,验证了所建模型的正确性。在总结腿、足式机器人经典步态的基础上,规划了一套适用于本机器人的行进步态方法,包括三足、四足、转弯、台阶、爬坡和轮式步态,并说明了各自的适用地形。分析了机器人在常用三足步态下、置于非平坦地形上的静态和动态稳定性,为该型机器人的稳定性研究提供了参考。从轮腿驱动源出发优化了足端轨迹,解决了机器人轮腿落地时可能产生的冲击振动问题。运用ADAMS软件对机器人进行动力学仿真,验证了结构设计、步态规划等的可行性。最后进行了机器人控制系统设计及各硬件设计,并制作了样机。通过实验研究与分析,验证了步态规划、结构设计的合理性,为该机器人的改进研究提供了依据。
[Abstract]:As an important branch of the development of intelligent robot, wheel-legged robot has a broad research space and application prospect. This paper analyzes and summarizes the research results at home and abroad. A new wheeled six-legged detection robot with both leg and wheel functions is designed and designed around the structure kinematics and dynamics of the robot. Gait planning and stability research are carried out. In this paper, the overall scheme of wheel-legged six-legged detection robot is proposed, and the frame structure and wheel-leg structure of the robot are completed. The design of investigation module and the establishment of 3D model, mainly describe the structure of wheel-leg, self-locking mode and the principle of wheel-leg mode conversion. The finite element model of Wheel leg is established, and then the statics stress of Wheel leg is carried out. Based on the configuration and parameters of the wheel-leg, the kinematics model and dynamic model of the three-legged robot are established. The correctness of the model is verified by the simulation of tripod gait. On the basis of summarizing the classical gait of leg and foot robot, a set of walking gait method suitable for this robot is planned, including tripodal gait and quadruped gait. Turn, step, climb slope and wheeled gait, and explain their suitable terrain. The static and dynamic stability of robot on uneven terrain under tripodal gait is analyzed. It provides a reference for the study of the stability of the robot and optimizes the trajectory of the foot from the wheel-leg driving source. The impact vibration of the robot wheeled leg is solved. The dynamic simulation of the robot is carried out by using ADAMS software, and the structure design is verified. The feasibility of gait planning. Finally, the robot control system design and hardware design, and made a prototype. Through experimental research and analysis, the rationality of gait planning and structure design is verified. It provides a basis for the improvement of the robot.
【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】：TP242

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