模块化四面体机器人的研究与设计

发布时间：2018-07-06 14:28

本文选题：模块化 + 四面体机器人　；参考：《北京交通大学》2017年硕士论文

【摘要】：模块化设计思想是一种拥有诸多优点的新兴设计理论,而运用模块化设计思想设计机器人则能够实现机器人的柔性扩展,也是机器人技术发展的必然趋势。与此同时,在移动机器人领域,多面体机器人是一种新兴事物,具有很强的环境适应能力,实现多面体机器人的模块化则有助于移动机器人技术的发展。基于此背景,本文以多面体机器人为研究对象,对其模块化设计方案进行研究,并以两款具有不同运动副的四面体机器人为实例进行设计方案的验证。首先,从几何学的角度对多面体进行分析,分析其实现运动的方式和基本结构组成单元,并与多面体机器人进行对比,从机构学角度分析出适合于此类机器人的运动实现方式和基本结构单元。接下来以基本结构单元为设计出发点,对两款具有不同运动副的模块化多面体机器人的机构模块构形、机构模块间连接、控制方案、控制系统硬件模块间连接进行设计,并对控制系统硬件模块初步选型和软件模块化实现进行研究。然后,基于模块化多面体机器人的设计方案,以两款具有不同运动副的四面体机器人为实例,实现其模块化的同时,分别进行运动学分析、控制系统硬件具体选型和软件流程设计,以验证多面体机器人模块化设计方案的可行性。其次,基于运动学分析,对两款四面体机器人设计不同的步态变换步骤并由运动俯视图分析其共有的步态分布规律。以此步态分布规律为依据,对基于R副模块化四面体机器人控制系统的实时控制算法进行了设计,实现了机器人根据所处的位置和操作者的控制命令进行特定方向的运动,并运用面向对象编程技术的实现其模块化。与此同时,基于传感器的检测原理,对基于R副模块化四面体机器人控制系统的运动检测算法进行了设计,并对其初始方案进行误差分析,设计出了校正零位偏移误差、随机误差和积累误差具有更高精度的运动检测算法,也运用面向对象编程技术实现了其模块化。最后,对基于R副模块化四面体机器人的主要零部件进行加工,制作并装配其样机和控制系统,进行试验调试,实现了本文模块化设计方案。
[Abstract]:The idea of modular design is a new design theory with many advantages. Using modular design thought to design robot can realize the flexibility expansion of robot, which is the inevitable trend of the development of robot technology. At the same time, in the field of mobile robot, polyhedron robot is a new thing, which has strong adaptability to the environment. The realization of modularization of polyhedron robot is helpful to the development of mobile robot technology. Based on this background, the modular design scheme of polyhedron robot is studied in this paper, and two tetrahedral robots with different motion pairs are taken as examples to verify the design scheme. First of all, from the point of view of geometry, we analyze the motion of polyhedron and its basic structure, and compare it with the polyhedron robot. From the point of view of mechanism, the kinematic realization mode and basic structure unit of this kind of robot are analyzed. Then the basic structure unit is taken as the starting point of the design. The configuration of the mechanism module, the connection between the mechanism modules, the control scheme and the connection between the hardware modules of the control system are designed for two modular polyhedron robots with different motion pairs. The primary selection of hardware module and the realization of software modularization are also studied. Then, based on the design scheme of modular polyhedron robot, two tetrahedral robots with different motion pairs are taken as examples to realize modularization and kinematics analysis respectively. The hardware selection and software flow design of the control system are used to verify the feasibility of the modular design of polyhedron robot. Secondly, based on kinematics analysis, different gait transformation steps are designed for two tetrahedron robots and their common gait distribution laws are analyzed by motion overlooking graph. Based on the gait distribution, a real-time control algorithm based on R submodular tetrahedron robot control system is designed, which realizes the robot moving in a specific direction according to the position and the control command of the operator. And use the object-oriented programming technology to achieve its modularization. At the same time, based on the detection principle of sensor, the motion detection algorithm of the control system based on R pair modularized tetrahedron robot is designed, and the error of the initial scheme is analyzed, and the zero offset error is designed. Random error and accumulation error have higher precision motion detection algorithm, and it is also modularized by object-oriented programming technology. Finally, the main components of the R pair modular tetrahedron robot are processed, its prototype and control system are manufactured and assembled, and the experimental debugging is carried out, and the modular design scheme of this paper is realized.
【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

【参考文献】