基于多组连杆机构的爬楼越障机器人的设计与分析

发布时间：2018-06-05 04:04

本文选题：构型重组 + 四杆运动单元　；参考：《山东科技大学》2017年硕士论文

【摘要】：当前机器人技术备受关注,机器人的移动性能要求也越来越高,能够自主越障的移动机器人成为研究的热点。然而,目前的移动越障机器人难以跨越台阶尺寸不同的楼梯障碍。因此,本文提出一种基于多组连杆机构的能够跨越多种尺寸楼梯障碍的轮式越障机器人。本文在查阅文献的基础上,深入分析对比现有的中小型移动越障机器人移动系统的结构组成以及越障特点,提出利用机构基本运动单元重组构型的方法,构造移动悬架机构,综合考虑楼梯地形的特点和轮式移动机构的优势,设计了一种被动式可攀爬楼梯的轮式越障机器人。本文以可攀爬楼梯的越障机器人为研究对象,利用机构分析解析法建立四杆运动单元的末端轨迹方程,运用单变量设计研究的方法研究其轨迹。建立机器人虚拟样机模型,将机器人爬楼过程在SolidWorks软件Motion插件中进行运动学仿真,分析机器人楼梯通过性的几何约束条件,并以平顺性和低能耗为优化目标,利用ADAMS软件对机器人进行多目标结构优化,确定四杆运动单元越障的最优杆长组合和安装尺寸。建立越障机器人平坦地面差速转向运动学和三维空间姿态运动学模型,为机器人运动轨迹跟踪控制、空间定位和合理路径规划提供依据;对越障机器人的爬楼过程进行动力学建模分析,结合动力学仿真,分析机器人楼梯越障的影响因素。分析越障机器人的运动性能,如凸起轮廓通过性、斜坡静态稳定性、沟壕跨越能力,综合评价机器人的越障能力。装配被动式可攀爬楼梯的轮式越障机器人的样机模型,通过复杂地形的试验,验证了本文提出的越障机器人具备良好的移动越障性能。本文研究的爬楼越障机器人为提高移动机器人的攀爬与越障能力提供了一种新的研究思路与方法,具有较好的理论意义与实际应用价值。
[Abstract]:At present, the robot technology is paid more attention to, and the requirement of robot mobile performance is more and more high. The mobile robot which can overcome the obstacle on its own has become the hot spot of the research. However, it is difficult for the mobile obstacle robot to cross the stair obstacle with different step size. Therefore, this paper presents a wheeled obstacle robot based on multi-group linkage mechanism which can cross various stair obstacles. On the basis of literature review, this paper deeply analyzes and compares the structure and characteristics of the mobile system of small and medium sized mobile obstacle crossing robot, and puts forward a method of reconstructing the mobile suspension mechanism by using the basic kinematic unit of the mechanism. Considering the characteristics of stair terrain and the advantages of wheeled moving mechanism, a passive wheeled robot for climbing stairs is designed. In this paper, a climbing stair climbing robot is used as the research object. The end trajectory equation of the four-bar motion unit is established by using the mechanism analysis and analytical method, and the trajectory is studied by the single variable design method. The robot virtual prototype model is established, and the robot climbing process is simulated in the SolidWorks software Motion plug-in. The geometric constraints of the robot staircase passing are analyzed, and the optimization targets are ride comfort and low energy consumption. The ADAMS software is used to optimize the multi-objective structure of the robot and to determine the optimal combination of rod length and installation size of the four-bar motion unit. The kinematics model of differential steering on flat ground and three dimensional attitude kinematics model of obstacle crossing robot are established, which can provide the basis for tracking control, space location and reasonable path planning of robot. The dynamic modeling and analysis of the climbing process of obstacle crossing robot are carried out, and the influence factors of robot staircase obstacle surmounting are analyzed with dynamic simulation. The kinematic performance of obstacle crossing robot is analyzed, such as protruding contour, slope static stability, ditch and trench crossing ability, and synthetically evaluating the robot's obstacle surmounting ability. The prototype model of wheeled obstacle robot equipped with passive climbing stairs is verified by experiments of complex terrain. The proposed robot has a good performance of moving obstacle. The building climbing obstacle robot studied in this paper provides a new research idea and method for improving the climbing and surmounting ability of mobile robot, which has good theoretical significance and practical application value.
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】