可变形六面体地面移动机构的研究

发布时间：2018-05-22 15:09

本文选题：变形移动机构 + 多面体　；参考：《北京交通大学》2017年博士论文

【摘要】：随着移动机器人技术的快速发展,机器人的功能需求逐渐面向应对未知的复杂任务(如星球探测、灾难救援等),从而对其移动能力提出了更加严苛的要求。复合型、可重构以及其他新概念构型设计方法及技术被应用于增强机器人的移动能力。本文以适用于复杂任务下非结构化地形环境的新概念地面移动机构为研究目标,从机构学角度出发,将机构构型创新设计及变形机器人思想相融合,利用连杆机构的灵活特性,提出以六面体为几何外形的一系列可变形机构的构造方法,并探索与研究了可变形六面体机构的地面移动能力。本论文提出可变形六面体地面移动机构的原创概念,其本质是将具有六面体外形的复杂空间连杆机构整体通过映射设计构成为移动机器人的机械本体。基于该思想,论文将六面体按正六面体、三角化六面体和削楞截角六面体分类,基于三种几何外形构造了可变形正六面体地面移动机构、可变形三角化六面体地面移动机构和可变形削楞截角六面体地面移动机构,并分别对其新概念构型设计和机器人变形技术进行了探索研究。结合六面体的拓扑结构与几何外形,分析了构成多自由度空间机构的活动性,通过大变形的运动分析对其进行移动步态规划,开发具有新概念构型设计以及变形机器人思想的多面体移动机构。具体研究内容如下:(1)提出一种具有正六面体几何形态的新概念可变形滚动机构。机构本体为具有14杆16副的空间连杆机构,整体由两个平台和四条支链构成,外观形态为一对空间正交的平行四边形,能够在两个驱动器的控制下通过翻滚步态实现全方位移动。(2)提出一种3自由度可变形三角化六面体移动机构。基于3-URU并联机构,该机构设计了特殊的URU支链结构,使得通过控制3个转动副实现机构整体的运动。通过对机构进行运动学分析,介绍了三支链同步运动时机器人的变形以及滚动原理。(3)提出一类外部几何形态为截角六面体的新型滚动机构。通过改变运动副的配置方案,得到不同变形特点与滚动模式的新构型。同时,在设计方法上,以几何形面作为基本单元构造具有多面体几何外形的新概念机构,该类机构具有截角六面体几何外形特征,可通过控制驱动器,实现机构整体变形,从而实现机构滚动功能。综合而言,本文从机构构型设计、运动分析与步态规划、虚拟样机仿真分析、原理样机研制及实验研究等方面,针对可变形六面体地面移动机构进行了系统研究,并提出将几何学六面体映射为可变形地面移动机构的设计与分析方法。基于机构构型及功能需求,结合机构创新构型设计方法和变形移动机器人设计技术,提出了一系列新概念的可变形六面体地面移动机构,研究了将六面体构型设计为地面移动机构的设计方法;应用变形机器人设计技术,揭示了六面体机构的移动机理,包括驱动机制、控制方法、变形能力、移动模式等;并通过运动副与驱动布局配置技术实现了几何学多面体向机构学移动机构的映射转化;通过奇异位置移动转向控制技术实现机构的移动功能与转向功能。基于本论文的研究工作,清楚地阐释了新概念可变形六面体地面移动机构的设计理念,同时该类机构所具有的全姿态移动能力与变形能力揭示了其应用潜力,为后续提升机构的移动能力以及设计具有高通过性的多面体移动平台提供了关键技术。
[Abstract]:With the rapid development of mobile robot technology, the functional requirements of the robot are gradually facing to the unknown complex tasks (such as planet detection, disaster rescue, etc.), thus making more stringent requirements for its mobile capabilities. Complex, reconfigurable and other new concept configuration design methods and techniques are applied to enhance the movement of the robot. In this paper, a new concept of ground moving mechanism, which is suitable for unstructured terrain environment under complex tasks, is used as the research goal. From the perspective of mechanism, the innovative design of the structure and the thought of the deformation robot are fused. The structure of a series of deformable mechanisms with six sides as geometric shape is proposed by using the flexible characteristics of the linkage mechanism. In this paper, the original concept of a deformable hexahedron ground moving mechanism is proposed in this paper. The essence is that the complex spatial linkage with a hexahedron shape is composed of the mechanical body of a mobile machine through mapping design. Based on this idea, the paper will be six sides. According to the classification of hexahedron, triangulated hexahedron and corrugated truncated hexahedron, the deformable positive hexahedron ground moving mechanism is constructed based on three geometric shapes, and the deformable trigonometric hexahedron ground moving mechanism and the deformable truncated hexahedron ground moving mechanism are deformable, and the new concept configuration design and the robot deformation technology are respectively presented. Based on the topological structure and geometric shape of hexahedron, the activity of the multi degree of freedom space mechanism is analyzed. The moving gait planning is carried out through the motion analysis of large deformation, and the multi-faceted mobile mechanism with the new concept configuration design and the thought of the deformed robot is developed. The specific contents are as follows: (1) A new concept deformable rolling mechanism with a positive hexahedral geometry. The mechanism body is a spatial linkage with 14 rods and 16 pairs. The whole is composed of two platforms and four branching chains. The appearance is a pair of parallelogram with a pair of spatial orthogonal designs, which can move all directions through the roll gait under the control of two drives. (2 A 3 degree of freedom deformable triangulated hexahedral mechanism is proposed. Based on the 3-URU parallel mechanism, a special URU branch structure is designed to make the movement of the mechanism through the control of 3 rotating pairs. Through the kinematic analysis of the mechanism, the deformation and rolling principle of the robot in the same step of three branches are introduced. (3) A new type of rolling mechanism with external geometric shape is proposed. By changing the configuration scheme of the motion pair, a new configuration of different deformation characteristics and rolling mode is obtained. In the design method, a new conceptual mechanism with geometric shape of a polyhedron is constructed with geometric shape as the basic unit. This kind of mechanism has a truncation of six. The geometric shape features of the surface can realize the whole deformation of the mechanism by controlling the actuator and realize the rolling function of the mechanism. In general, this paper is based on the configuration design of the mechanism, the motion analysis and gait planning, the simulation analysis of the virtual prototype, the development of the principle prototype and the experimental research, and the deformation of the deformable hexahedral ground mobile mechanism. The design and analysis method of the geometric hexahedron is mapped into a deformable ground moving mechanism. Based on the structure and functional requirements of the mechanism, a series of new conceptions of the deformable hexahedral mobile mechanism are proposed based on the mechanism of the structural design and the design technology of the deformable mobile robot. The design is the design method of the ground moving mechanism, and the movement mechanism of the hexahedral mechanism, including the driving mechanism, the control method, the deformability and the moving mode, is revealed by the design technique of the deformable robot, and the mapping and transformation of the geometric polyhedron to the mechanism mechanism by the motion pair and the driving configuration technology are realized. Based on the research work of this paper, the design concept of the new concept deformable hexahedral ground mobile mechanism is clearly explained. At the same time, the full attitude movement and deformability of this kind of mechanism have revealed its application potential for the follow-up hoist. The mobile capabilities of the structure and the design of the high mobility polyhedron mobile platform provide the key technology.
【学位授予单位】：北京交通大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP242

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