可缩放并联蠕动机器人的设计与研究

发布时间：2018-06-22 22:58

本文选题：灾难勘探 + 移动机器人　；参考：《北京交通大学》2017年硕士论文

【摘要】：随着机器人机构学理论与智能控制理论的发展,地面移动机器人越来越得到社会各界的关注。不同的移动形式、不同的适用环境的机器人逐渐被相关领域研究学者提出。目前,地面移动机器人以其易控制性、高度灵活性、任务多样化等优点被应用到了许多行业,例如军事侦探、医疗服务、快递物流、灾难救援等。本文以城市灾难现场勘探和物资运输为应用场景,提出了一种由3RPS并联机构和3P缩放机构组合而成的新型机构(命名为2-3RPS平台可缩放机构),并将其用于灾难勘探机器人。本文分析了该机构的自由度、运动学正解、运动学逆解以及将该机构用于地面移动机器人(灾难勘探机器人)的运动步态。分析结果表明,3RPS并联机构自由度为3、3P缩放机构自由度为1、2-3RPS平台可缩放机构自由度为9;该机构用于可缩放并联蠕动机器人的原理构型时,对机器人的前进步态、后退步态以及转向步态进行了探讨,分析了步态中需要满足的机构条件,给出了三种运动步态中原动件各自不同的运动规律。运用Adams软件对2-3RPS平台可缩放机构的自由度以及运动步态进行了仿真与验证。仿真结果表明,本文对3RPS并联机构、3P机构以及3RPS平台可缩放机构的自由度计算结果正确,对该新机构的运动步态(前进步态、后退步态以及转向步态)分析结果正确,仿真按照预期完成。通过对机构的自由度验证和步态验证之后,进行了机器人的工程样机设计、加工与组装。本文介绍了样机设计的流程,对转动副设计、推杆选型、球副的设计、缩放平台设计进行了简述。其中,球副的设计时,对本文采用的虎克铰与转动副串联方案进行详细的分析。之后,根据步态分析的运动策略,用Arduino开发板作为主控单元对样机的控制系统进行搭建。实验结果表明,机器人在9个原动件的情况下具有确定的运动,且能按照预期完成前进步态、后退步态以及转向步态,分析结果与仿真结果正确。
[Abstract]:With the development of robot mechanism theory and intelligent control theory, more and more attention has been paid to ground mobile robot. Robots with different mobile forms and different environments have been proposed by researchers in related fields. At present, ground mobile robots are widely used in many industries, such as military detective, medical service, express logistics, disaster rescue and so on. In this paper, a new type of mechanism (named 2-3RPS platform scalable mechanism), which is composed of 3RPS parallel mechanism and 3P zoom mechanism, is proposed and applied to the disaster exploration robot based on the application scenario of urban disaster scene exploration and material transportation. In this paper, the degree of freedom, forward kinematics solution, inverse kinematics solution of the mechanism and its application in moving gait of ground mobile robot (disaster exploration robot) are analyzed. The analysis results show that the degree of freedom of the 3RPS parallel mechanism is 3 / 3P and the degree of freedom of the scalable mechanism is 1 / 2 / 3RPS / 3RPS, and the mechanism is applied to the principle configuration of the scalable parallel peristaltic robot and the forward gait of the robot is obtained. The backward gait and steering gait are discussed, and the mechanism conditions in gait are analyzed, and the different motion laws of the primary mover in the three kinds of gait are given. The degree of freedom and the motion gait of the scalable mechanism of 2-3 RPS platform are simulated and verified by Adams software. The simulation results show that the calculation results of the degrees of freedom of the 3RPS parallel mechanism and the 3RPS scalable mechanism are correct, and the analysis results of the moving gait (forward gait, backward gait and steering gait) of the new mechanism are correct. The simulation is completed as expected. After verifying the degrees of freedom and gait of the mechanism, the engineering prototype of the robot is designed, machined and assembled. This paper introduces the flow of prototype design, and briefly describes the design of rotary pair, the selection of push rod, the design of ball pair and the design of zoom platform. When the ball pair is designed, the series scheme of Hook hinge and rotating pair is analyzed in detail. Then, according to the motion strategy of gait analysis, Arduino development board is used as the main control unit to build the control system of the prototype. The experimental results show that the robot has certain motion under the condition of 9 original moving parts, and can complete the forward gait, the backward gait and the steering gait according to the expectation. The analysis result is correct with the simulation result.
【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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