轮腿混合式攀爬机器人的设计与实现

发布时间：2018-02-17 08:55

本文关键词： 轮腿混合攀爬机器人同相偏心控制系统　出处：《西南大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着移动机器人技术的不断发展与成熟,机器人的应用范围也越来越广泛,涉及到军事侦查、探测救援、星球探索等领域。在这些高危险的场合里要求机器人能够代替人类完成任务。常见的机器人的移动方式分为轮式、腿式及履带式,由于单种类型的移动方式的应用都有各自的优缺点,因此混合式机器人的研究逐渐成为了该领域的研究热点和趋势。本次研究的基于同相非同相及偏心非偏心混合式的小型机器人结合轮式和腿式机器人的优点能够在平地、草地、沙地等复杂地面上稳定的行走和越障,克服了该类机器人中行走与越障效率的不兼顾问题。同相和非同相是指机器人的行走步态,而偏心和非偏心是指行驶单元的结构。同相和偏心的技术是为了提高机器人的越障能力。该机器人基于同相非同相及偏心非偏心技术,采用四个普通的圆轮和负责攀爬越障的偏心式摆杆结构,在规整地形下以轮式结构高效率行走,在复杂地形下采用偏心式摆杆结构进行攀爬或翻滚,兼顾了行走效率和越障性能,并且机器人能够稳定的攀爬连续台阶。本文首先通过分析该机器人的选题背景及当今世界对轮腿混合式机器人的研究现状,创新性的提出一种新型的轮腿混合式机器人。其次,详细介绍了该混合式机器人的总体设计过程以及在平地和复杂地形下的步态规划,并对机器人攀爬台阶的运动原理进行详细分析。文章第三部分通过建立机器人运动学动力学模型,对机器人进行运动学和动力学分析计算,计算机器人能够越过障碍物的极限高度,以及爬坡角度。第四部分给出该机器人控制系统的设计思想,并依次对硬件部分和软件部分进行详细的描述。第五部分通过平地行走实验,对机器人模型和步态规划进行验证与分析,然后通过在复杂地形下的越障实验以及在攀爬连续台阶实验分析机器人的越障和攀爬性能,通过对机器人进行实验进一步改进和完善机器人性能。对所述机器人的设计过程进行总结,并对其以后的应用前景进行展望。通过本文的研究与分析,基于同相非同相及偏心非偏心技术的轮腿混合式机器人既能在平地上高效率行走,又能在复杂地形下稳定的越障和攀爬,具有极高的灵活性和越障能力,为以后的混合式机器人研究提供参考依据。
[Abstract]:With the development and maturity of mobile robot technology, the application of robot is more and more extensive, involving military investigation, detection and rescue. Planetary exploration and other areas. In these high-risk situations, robots are required to be able to perform tasks instead of humans. The common movements of robots are wheeled, legged and crawler. Because each type of mobile application has its own advantages and disadvantages, Therefore, the research of hybrid robot has gradually become the research hotspot and trend in this field. The advantages of combining wheeled and legged robots based on in-phase and eccentricity hybrid robots in this study can be found in flat ground and grassland. The steady walking and obstacle surmounting on the complex ground such as sandy land overcomes the inconsideration of walking and obstacle surmounting efficiency in this kind of robot, which refers to the walking gait of the robot. And eccentricity and non-eccentricity are the structures of driving units. The techniques of phase and eccentricity are designed to improve the ability of robots to overcome obstacles. Using four ordinary round wheels and eccentric swinging bar structure which is in charge of climbing obstacle, walking efficiently with wheel structure under regular terrain, climbing or rolling with eccentric swinging rod structure in complex terrain. The walking efficiency and obstacle surmounting performance are considered, and the robot can climb the continuous steps stably. Firstly, this paper analyzes the background of the robot and the current research situation of the wheel-leg hybrid robot in the world. A novel wheel-leg hybrid robot is proposed. Secondly, the overall design process of the hybrid robot and gait planning under flat ground and complex terrain are introduced in detail. In the third part, the kinematics and dynamics analysis of the robot is carried out by establishing the kinematics and dynamics model of the robot. Calculate the limit height of the robot over obstacles and the angle of climbing. Part 4th gives the design idea of the robot control system. In the 5th part, the robot model and gait planning are verified and analyzed by walking experiments on flat ground. Then, the obstacle surmounting and climbing performance of the robot are analyzed through the obstacle surmounting experiment under the complex terrain and the experiment of climbing the continuous steps. The performance of the robot is further improved and perfected by experiments. The design process of the robot is summarized, and the prospect of its application in the future is prospected. Through the research and analysis of this paper, The wheel-leg hybrid robot based on the technology of in-phase and eccentricity and non-eccentricity can not only walk efficiently on the flat ground, but also be able to surmount and climb stably under complex terrain, and has extremely high flexibility and ability of surmounting obstacles. It provides a reference for the future research of hybrid robot.
【学位授予单位】：西南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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