一种新型软体模块化机器人的结构设计及动力学建模研究

发布时间：2018-06-30 22:13

本文选题：机械结构 + 运动学　；参考：《天津理工大学》2017年硕士论文

【摘要】：软体机器人可以模仿软体动物,如章鱼、象鼻、蚯蚓等。软体机器人能够模仿动物运动模式,适应人类不能到达的环境。模块化机器人具有相对独立性、互换性和通用性的特点。因此,本文研究软体模块化机器人。根据国内外软体机器人的研究现状,分析了实验室中历代机器人优缺点,受到仿生学启发,结合生物蠕动运动的特点,设计了一种新型软体模块化机器人单元模块,主要创新点在于采用形状记忆合金作为转向驱动器,单元模块具有柔韧性,通过协调地控制四根形状记忆合金丝实现转向机构的伸缩或向任意方向弯曲,机构能到达空间中大部分位置。单元模块共有3个自由度,具有运动灵活、结构紧凑、对接可靠稳定的优点,最后,介绍了两个模块所组成构型拓扑以及多个模块构成拓扑构型。建立了软体模块化机器人单元模块的运动学模型,采用分段常曲率法,借鉴D-H法思想,提出基于伪刚体的D-H建模方法和形状记忆合金线驱动模型,描述驱动线运动速度与末端执行器运动的线速度、角速度之间的映射关系。基于Adams软件,单元模块进行了伸缩运动和弯曲运动仿真。通过对比多种动力学建模方法的优缺点,选择凯恩方法建立软体机器人的动力学模型;其次,通过受力分析,建立了软体机器人的凯恩动力学方程和单元模块截面的动力学平衡方程;通过Kelvin模型来描述硅胶的粘弹性;最后,基于Adams软件分析了单元模块动力学仿真。最后,对软体机器人末端模块进行轨迹规划。
[Abstract]:Software robots can mimic mollusks such as octopus, nose, earthworms, etc. Software robots can mimic animal movements and adapt to environments that humans cannot reach. Modular robot has the characteristics of relative independence, interchangeability and versatility. Therefore, the software modular robot is studied in this paper. According to the current research situation of software robot at home and abroad, this paper analyzes the advantages and disadvantages of previous generations of robots in the laboratory. Inspired by bionics and combined with the characteristics of biological creep motion, a new software modular robot unit module is designed. The main innovation is that the shape memory alloy is used as the steering driver, the unit module is flexible, and the four shape memory alloy wires are controlled in coordination to realize the stretching or bending of the steering mechanism in any direction. The mechanism can reach most of the space. The unit module has the advantages of three degrees of freedom, flexible motion, compact structure, reliable and stable docking. Finally, the topology of the two modules and the topology of several modules are introduced. The kinematics model of software modular robot unit module is established. By using the piecewise constant curvature method and the idea of D-H method, the D-H modeling method based on pseudo-rigid body and the shape memory alloy line driving model are proposed. This paper describes the mapping relationship between the speed of driving line and the linear velocity and angular velocity of terminal actuator motion. Based on Adams software, the unit module simulates the stretching motion and bending motion. By comparing the advantages and disadvantages of many dynamic modeling methods, Kane's method is chosen to establish the dynamic model of software robot. Secondly, through the force analysis, The Kane dynamics equation of software robot and the dynamic equilibrium equation of unit module section are established. The viscoelasticity of silica gel is described by Kelvin model. Finally, the dynamic simulation of unit module is analyzed based on Adams software. Finally, the trajectory planning of the software robot end module is carried out.
【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【相似文献】