具有多运动模式的球腿复合机器人的研究
发布时间：2018-07-14 14:28
【摘要】：对于复杂环境下执行探测、救援任务的机器人而言,要求能适应多种路况,且在运动速度、越障能力等方面具有优良的性能。传统的多足机器人,虽然越障能力强,但运动速度较慢;而球形机器人,运动速度快、机动能力强,且具有零转弯半径,但避障能力不足。基于此,本文研制了具有多种运动形式的球-腿变形机器人系统,兼具球形机器人快速运动和多足机器人高避障能力的特点,能根据不同路况选择合适的运动形式。针对复杂环境下作业任务对机器人运动能力的需求,确定了移动机器人系统的功能和性能指标,基于此,设计了一种球腿复合机器人系统。整个机器人系统包括机械、传感、以及嵌入式控制系统三部分。机械上,采用可拼接球形外壳包裹的六足机器人的复合式机构,针对六足与球的切换所带来的变形及干涉问题,本文设计一种全新的基于阿基米德螺旋线的展开机构,目的是为了上半球与下半球的球瓣之间不会发生机械干涉。根据所设计的构型,开展了单腿运动学和整个系统运动学的建模,分析了各腿间的相互作用关系并制定了多足协调规则,规划了六足运动以及球形滚动模式的运动步态,并结合ADAMS动力学仿真,验证了系统设计的合理性。传感器主要采用WIFI摄像头进行环境感知,且能将所观测的图像通过无线链路传到后台控制终端。控制分系统以STM32系列芯片和无线路由器为核心,植入了实时操作系统Open WRT并编写了任务程序,实现机器人多种运动模式的转换以及传感数据的反馈。另外,为方便任务规划和状态监测,基于C#编写了后台控制终端的上位机软件,实现了与嵌入式控制分系统以及WIFI相机的无线通信,可远程控制机器人执行作业任务。最后,制作了移动机器人的样机并进行了实验研究。结果表明,所研制的机器人系统具有较好的运动能力、变形能力与滚动能力。
[Abstract]:For robots that perform detection and rescue missions in complex environments, they are required to adapt to a variety of road conditions, and have excellent performance in terms of speed of movement, ability of surmounting obstacles, and so on. Although the traditional multi-legged robot has strong ability of surmounting obstacles, its speed is slow, while the spherical robot has the advantages of high speed, strong maneuverability and zero turning radius, but its ability to avoid obstacles is insufficient. Based on this, a spherical and leg deformable robot system with various motion forms has been developed, which has the characteristics of fast movement of spherical robot and high obstacle avoidance ability of multi-legged robot, and can choose suitable motion form according to different road conditions. The function and performance index of mobile robot system are determined according to the requirement of robot motion ability in complex environment. Based on this, a hybrid robot system with ball legs is designed. The whole robot system consists of three parts: mechanical, sensing and embedded control system. In order to solve the problem of deformation and interference caused by the switch between the hexapod and the ball, a new expansion mechanism based on Archimedes helix is designed in this paper. The aim is to prevent mechanical interference between the upper and lower hemispheres. According to the designed configuration, the kinematics of one leg and the whole system are modeled, and the interaction between the legs is analyzed, and the coordination rules of multiple legs are formulated, and the gait of six-legged motion and spherical rolling mode is planned. The rationality of the system design is verified by Adams dynamic simulation. The sensor mainly uses WiFi camera to sense the environment and can transmit the observed images to the background control terminal via wireless link. The control subsystem is based on STM32 series chips and wireless routers. The real-time operating system Open WRT is implanted and the task program is written to realize the conversion of robot motion modes and the feedback of sensing data. In addition, in order to facilitate task planning and condition monitoring, the upper computer software of the background control terminal is programmed based on C #. The wireless communication with embedded control subsystem and WiFi camera is realized. The robot can be remotely controlled to perform tasks. Finally, the prototype of the mobile robot is made and the experimental research is carried out. The results show that the robot system has better kinematic ability, deformation ability and rolling ability.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2121936
[Abstract]:For robots that perform detection and rescue missions in complex environments, they are required to adapt to a variety of road conditions, and have excellent performance in terms of speed of movement, ability of surmounting obstacles, and so on. Although the traditional multi-legged robot has strong ability of surmounting obstacles, its speed is slow, while the spherical robot has the advantages of high speed, strong maneuverability and zero turning radius, but its ability to avoid obstacles is insufficient. Based on this, a spherical and leg deformable robot system with various motion forms has been developed, which has the characteristics of fast movement of spherical robot and high obstacle avoidance ability of multi-legged robot, and can choose suitable motion form according to different road conditions. The function and performance index of mobile robot system are determined according to the requirement of robot motion ability in complex environment. Based on this, a hybrid robot system with ball legs is designed. The whole robot system consists of three parts: mechanical, sensing and embedded control system. In order to solve the problem of deformation and interference caused by the switch between the hexapod and the ball, a new expansion mechanism based on Archimedes helix is designed in this paper. The aim is to prevent mechanical interference between the upper and lower hemispheres. According to the designed configuration, the kinematics of one leg and the whole system are modeled, and the interaction between the legs is analyzed, and the coordination rules of multiple legs are formulated, and the gait of six-legged motion and spherical rolling mode is planned. The rationality of the system design is verified by Adams dynamic simulation. The sensor mainly uses WiFi camera to sense the environment and can transmit the observed images to the background control terminal via wireless link. The control subsystem is based on STM32 series chips and wireless routers. The real-time operating system Open WRT is implanted and the task program is written to realize the conversion of robot motion modes and the feedback of sensing data. In addition, in order to facilitate task planning and condition monitoring, the upper computer software of the background control terminal is programmed based on C #. The wireless communication with embedded control subsystem and WiFi camera is realized. The robot can be remotely controlled to perform tasks. Finally, the prototype of the mobile robot is made and the experimental research is carried out. The results show that the robot system has better kinematic ability, deformation ability and rolling ability.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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