三角形磁吸附履带爬壁机器人关键技术研究

发布时间：2018-07-06 08:59

本文选题：三角形履带 + 爬壁机器人　；参考：《合肥工业大学》2017年硕士论文

【摘要】：爬壁机器人是指能够在垂直壁面进行运动代替人工进行作业的机器人,在极限工作环境下有着广泛的应用。本文针对传统爬壁机器人越障性能和壁面过渡性能较差的特点,设计了一种新型爬壁机器人,将三角形履带轮应用到爬壁机器人上,并展开了分析研究,主要研究内容包括以下几个方面:首先,对爬壁机器人的结构进行了设计。通过综合比较各类型机器人优缺点,确定了机器人永磁吸附、三角形履带轮组行走、电机驱动的方案,并对吸附结构、传动结构和驱动结构进行了设计,鉴于永磁铁无法调节磁吸附力大小的缺点,设计了磁力调节结构,可以根据实际工作表面状况,调节磁吸附力大小。其次,为避免机器人在工作面发生脱落、滑移的危险,从静止和运动两个方面,对机器人向上前进、向下爬行、转向和壁面过渡四种工作状态进行了力学分析,建立了力学模型,确定了最小磁吸附力和电机输出力矩大小。然后,分别讨论了机器人爬行和翻转两种越障形式,分析了两种越障形式下,最大越障高度,重点对翻转越障过程进行了详细讨论。根据达朗贝尔原理,建立了越障动力学模型,推导出极限状态下平衡状态方程,对越障过程中电机最小输出力矩影响因素进行了讨论,应用MATLAB软件对机器人尺寸进行了优化设计,优化后的结构降低了越障过程中机器人本体质心竖直方向高度,减小了电机输出力矩,提高了机器人越障稳定性。最后,应用ADAMS软件建立了机器人虚拟样机模型,对直线前进、转向以及越障三种工作状况进行了仿真,对仿真结果与理论结果进行了对比。应用Workbench软件对机器人关键零部件进行了静力学分析。
[Abstract]:Wall-climbing robot is a robot that can move in vertical wall instead of manual work. It is widely used in extreme working environment. In this paper, a new type of climbing robot is designed in view of the poor performance of obstacle surmounting and wall transition of the traditional climbing robot. The triangular crawler wheel is applied to the climbing robot, and the analysis and research are carried out. The main research contents are as follows: firstly, the structure of wall climbing robot is designed. By comparing the advantages and disadvantages of various types of robots, the schemes of robot permanent magnet adsorption, triangle crawler wheel group walking and motor driving are determined, and the adsorption structure, transmission structure and drive structure are designed. In view of the disadvantage that permanent magnet can not adjust the magnitude of magnetic adsorption force, a magnetic force adjusting structure is designed, which can adjust the magnitude of magnetic adsorption force according to the actual working surface condition. Secondly, in order to avoid the danger of the robot falling off and sliding in the working face, the mechanical analysis of four working states of the robot is carried out from the aspects of static and motion, such as upward advance, downward crawling, turning and wall transition. A mechanical model was established to determine the minimum magnetic adsorption force and the output torque of the motor. Then, two kinds of obstacle surmounting modes of robot crawling and overturning are discussed, and the maximum obstacle height is analyzed under the two kinds of obstacle surmounting forms, and the process of overturning obstacle is discussed in detail. According to the principle of Darembert, the dynamic model of obstacle surmounting is established, and the equation of equilibrium state in limit state is deduced. The influence factors of the minimum output moment of motor in the process of surmounting obstacle are discussed. The optimization design of robot size is carried out by using MATLAB software. The optimized structure reduces the vertical height of the center of mass of the robot body in the process of surmounting obstacles, reduces the output torque of the motor, and improves the stability of the robot over the obstacle. Finally, the virtual prototype model of robot is established by using Adams software. The three working conditions of straight forward, steering and obstacle surmounting are simulated, and the simulation results are compared with the theoretical results. The statics analysis of the key parts of the robot is carried out by using the Workbench software.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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