反恐防暴机器人结构设计与越障分析研究

发布时间：2018-07-06 14:17

本文选题：反恐防暴 + 机器人　；参考：《山东科技大学》2017年硕士论文

【摘要】：本课题结合当前国内对移动机器人的设计要求,依据青岛市民生科技项目设计出了一种新型的多自由度、可变形的履带式反恐防暴机器人。该反恐防暴机器人采用腿与履带相结合的变形方式,共有12个自由度,能够灵活变形。通过多种变形方式,可以跨越壕沟,可以翻越高凸台障碍物。首先,对国内外反恐防暴机器人的有关情况进行了简单的介绍,结合国内外研究现状,对比国内外的反恐防暴机器人研究差距,提出了自己的多自由度可变形移动机器人的想法;其次,结合设计要求,提出不同的设计方案,对各方案进行对比分析,选出一种合适的既能满足要求又能将质量降到最低且结构简单的设计方案,根据设计方案,利用SolidWorks三维作图软件将每个零件都进行参数化建模,并且给每个零部件模型赋予材料属性,然后将各零件根据装配关系添加配合,得到反恐防暴机器人三维虚拟样机;再次,根据反恐防暴机器人的结构特点,对其越障能力进行分析研究,并且对反恐防暴机器人翻越凸台障碍物以及跨越壕沟进行越障动作规划,在不影响仿真结果的前提下,将虚拟样机简化并将简化后的反恐防暴机器人虚拟样机各模块另存为parasolid格式,导入Adams中进行虚拟样机仿真分析,得出力矩、角度、角速度、质心变化曲线,根据仿真结果验证了本文所规划的越障动作的正确性以及机器人在此规划下越障的稳定性;最后,结合虚拟样机仿真分析结果,将反恐防暴机器人变形过程中的关键受力零部件转换为parasolid格式导入ANSYS中进行有限元分析,得出应力、应变和位移云图,依照分析结果对关键零部件的强度进行校核。
[Abstract]:According to the design requirements of mobile robots in China, a new multi-degree-of-freedom deformable anti-riot robot is designed according to the Qingdao Minsheng Science and Technology Project. The anti-riot robot can deform 12 degrees of freedom by combining legs and tracks. Through a variety of deformation, can cross the trench, can climb high platform obstacles. First of all, the relative situation of anti-riot robot at home and abroad is briefly introduced, and the research gap of anti-riot robot at home and abroad is compared with the current research situation at home and abroad. The idea of multi-degree-of-freedom deformable mobile robot is put forward. Secondly, according to the design requirements, different design schemes are put forward, and each scheme is compared and analyzed. A suitable design scheme, which can not only meet the requirements but also reduce the quality to the lowest and simple structure, is selected. According to the design scheme, every part is modeled parameterized by SolidWorks 3D drawing software. And give each component model material attributes, and then each part according to the assembly relationship to add matching, get anti-riot robot three-dimensional virtual prototype; thirdly, according to the anti-riot robot structure characteristics, The ability of surmounting obstacle is analyzed and studied, and the anti-riot robot surmounts the platform obstacles and crosses the trenches, without affecting the simulation results. The virtual prototype is simplified and each module of the simplified anti-riot robot is saved as parasolid format. The virtual prototype is imported into Adams to simulate and analyze the virtual prototype. The curves of torque, angle, angular velocity and centroid change are obtained. According to the simulation results, the correctness of the proposed obstacle crossing action and the stability of the robot under the plan are verified. Finally, the simulation results of the virtual prototype are combined. The key parts of anti-riot robot during deformation are transformed into parasolid format for finite element analysis, and the stress, strain and displacement cloud diagrams are obtained. According to the analysis results, the strength of the key parts is checked.
【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

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