履带机器人动力学特性研究

发布时间：2018-03-20 11:30

本文选题：行走机器人　切入点：丝杆　出处：《上海海洋大学》2017年硕士论文　论文类型：学位论文

【摘要】：近代以来,由于科技水平的快速发展,各种新兴机器人不断涌现,从单一到复杂,从一体化到多模块合成,从单任务到多任务,其应用已渗透到国民制造的各行各业,如军事、环境监测、船舶制造、能源勘探与开采、医疗、农业、林业、服务业等工况比较恶劣的环境,并在其中扮演着至关重要的角色[47]。同时随着国民经济的快速发展,不可避免的造成环境等附带因素的恶化,因此履带机器人的工作环境在可预见时间内比较严峻,这就要求履带机器人具有良好的动力学性能。本文在此方向下,以履带移动机器人为研究对象,充分了解国内外该型机器人的技术状况,并结合履带机器人的各种工作环境,提出一种利用丝杠实现变节的三节六履式移动机器人设计方案,并介绍其整体结构,研究其运动学性能,利用多体动力学软件RecurDyn构建虚拟样机模型分析其动力学性能,并在此基础上完成样机模型的制作,最后通过相关试验说明方案的可执行性,具体工作如下:(1)提出履带机器人的具体结构方案,阐述其具体机械结构以及工作原理,给出其具体设计参数,并分析重要部件间的关系,如摆臂仰角与滑块移动距离间的关系等。(2)依据机器人结构设计方案,结合机器人学知识构建机器人运动学模型,阐述机器人越障原理,分析其在不同运动状态下运动学性能,如机器人抗倾覆性能,机器人跨越凸台、楼梯、壕沟、斜坡以及转弯等性能。(3)依据上述理论分析,建立动力学模型,并结合三维模型软件和动力学分析软件建立虚拟样机模型,并就上述性能在RecurDyn中进行动力学性能的仿真试验,验证设计参数的有效性与正确性,并为样机的关键部件选择提供重要参考,为后续样机的制造奠定牢固的基础。(4)完成试验样机的制造,并在此基础上完成简易控制系统设计,进行试验。结果表明机器人各项运动性能基本符合最初设计意图,具备不错的运动学与动力学性能,为履带移动机器人的后续改进与完善提供初始参考。
[Abstract]:Since modern times, due to the rapid development of science and technology, a variety of emerging robots have been emerging, from single to complex, from integration to multi-module synthesis, from single-task to multi-task, its application has penetrated into various industries, such as military, which are manufactured by the people. Environmental monitoring, shipbuilding, energy exploration and exploitation, medical treatment, agriculture, forestry, service and other working conditions are relatively harsh conditions, and play a vital role in them [47]. At the same time, with the rapid development of the national economy, Due to the deterioration of environment and other incidental factors, the working environment of crawler robot is severe in the foreseeable time, which requires the crawler robot to have good dynamic performance. Taking crawler mobile robot as the research object, fully understanding the technical situation of this type of robot at home and abroad, and combining with the various working environments of the crawler robot, a design scheme of three-section six-shoe mobile robot with three sections and six shoes using the lead screw to realize the change is put forward. The whole structure of the model is introduced and its kinematics performance is studied. The virtual prototype model is constructed by using multi-body dynamics software RecurDyn to analyze its dynamic performance, and the prototype model is made on this basis. Finally, the implementability of the scheme is illustrated by relevant experiments. The specific work is as follows: (1) the concrete structure scheme of the crawler robot is put forward, and the concrete mechanical structure and working principle of the crawler robot are expounded, and the specific design parameters are given. The relationship between important components, such as the relationship between the swing arm elevation angle and the moving distance of the slider, is analyzed. According to the design scheme of the robot structure and the knowledge of robotics, the kinematics model of the robot is constructed, and the principle of the robot surmounting obstacles is expounded. The kinematics performance of the robot in different motion states, such as the anti-overturning performance of the robot, the performance of the robot over the convex platform, the staircase, the trench, the slope and the turn, etc., are analyzed. Based on the above theoretical analysis, the dynamic model is established. The virtual prototyping model is built with 3D model software and dynamic analysis software, and the simulation test of the dynamic performance is carried out in RecurDyn to verify the validity and correctness of the design parameters. It also provides an important reference for the selection of the key parts of the prototype, and lays a solid foundation for the subsequent prototype manufacture. It also completes the manufacture of the test prototype, and on this basis completes the design of the simple control system. The results show that the motion performance of the robot basically accords with the original design intention, and has good kinematics and dynamics performance, which provides the initial reference for the further improvement and perfection of tracked mobile robot.
【学位授予单位】：上海海洋大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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