正交位双全向轮驱动球形机器人的机构分析与研究

发布时间：2018-02-27 02:35

本文关键词： 球形机器人全向轮运动特性 Adams仿真跳跃运动 PWM调速　出处：《北京交通大学》2017年硕士论文　论文类型：学位论文

【摘要】：球形机器人是一种具有球形外壳结构的新型移动机器人。与其它移动机器人相比,球形机器人因其独特的优点而可以广泛地应用于不同的领域中。当前学术界对球形机器人的研究重点主要在新型驱动机构设计,运动学和动力学特性分析,以及运动控制等诸多方面。本文提出了一种正交位双全向轮驱动球形机器人的新型驱动机构设计,并详细设计了其机械结构和控制系统,完成了其运动特性的分析。首先,本文对正交位双全向轮驱动球形机器人的新型结构进行了分析,构建了数字化三维实体模型,完成了本机器人的运动学和动力学特性分析研究。基于运动学,和接触力学原理,详细构建了正交位双向轮驱动球形机器人的运动模型,并对平面-球系统和驱动单元系统进行了理论分析,建立了驱动单元与球体运动位姿之间的关系。基于动力学原理,采用牛顿-欧拉法建立了正交位双全向轮驱动球形机器人的动力学模型,并通过龙格-库塔法对此动力学模型进行了数值求解,获得了驱动单元和球体的状态变量的变化关系曲线。其次,本文还对正交位双全向轮驱动球形机器人的运动方式进行了全面详细的分析研究。将其直线运动分解为启动、加速和匀速三个阶段进行分析,降低了分析复杂性;使用微分法构造出匀速运动的数学模型,并通过迭代递推的方法,获得了球体和全向轮之间的速度变化关系曲线;详细分析了正交位双全向轮驱动球形机器人的转向运动、爬坡运动、越障运动和跳跃运动的理论特性。继而,本文运用ADAMS软件对正交位双全向轮驱动球形机器人进行了数字化运动仿真模拟,验证了正交位双全向轮驱动球形机器人的运动理论分析。最后,完成了其物理样机的制作,基于PWM调速原理设计并制作了其控制系统,进行了样机的相关试验,进一步佐证了正交位双全向轮驱动球形机器人的理论分析。本研究工作,为球形机器人的深入研究提供了参考。
[Abstract]:Spherical robot is a new type of mobile robot with spherical shell structure. Spherical robot can be widely used in different fields because of its unique advantages. At present, the focus of academic research on spherical robot is mainly on the design of new drive mechanism, kinematics and dynamic characteristics analysis. In this paper, a new type of drive mechanism for a spherical robot driven by orthogonal position and double direction wheel is proposed, and its mechanical structure and control system are designed in detail, and its motion characteristics are analyzed. In this paper, the new structure of the spherical robot with orthogonal position and double direction wheel drive is analyzed, and the digitized three-dimensional solid model is constructed, and the kinematics and dynamics characteristics of the robot are studied. The kinematic model of the spherical robot driven by orthogonal bidirectional wheel is constructed in detail, and the theoretical analysis of plane-ball system and drive unit system is carried out, and the relationship between the driving unit and the motion posture of the sphere is established. The dynamic model of a spherical robot driven by orthogonal position and double direction wheel is established by Newton-Euler method, and the dynamic model is solved numerically by Runge-Kutta method. The variation curves of the state variables of the drive unit and the sphere are obtained. Secondly, the motion mode of the spherical robot driven by orthogonal position and double direction wheel is analyzed in detail, and the linear motion of the robot is decomposed into startup. In order to reduce the complexity of the analysis, the mathematical model of uniform velocity motion is constructed by differential method, and the curve of the velocity relationship between the sphere and the omnidirectional wheel is obtained by iterative recursive method. In this paper, the theoretical characteristics of steering motion, climbing motion, obstacle surmounting motion and jumping motion of orthogonal double-direction wheel-driven spherical robot are analyzed in detail. In this paper, ADAMS software is used to simulate the digital motion of a spherical robot with orthogonal position and double direction wheel drive, which verifies the theoretical analysis of the motion of the robot. Finally, the physical prototype of the robot is made. Based on the principle of PWM speed regulation, the control system is designed and manufactured, and the related experiments of the prototype are carried out, which further prove the theoretical analysis of the orthogonal position dual-direction wheel-driven spherical robot. It provides a reference for the further study of spherical robot.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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